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processed a lot of feedback: added 'realtime' simulation with fixed substeps (and clamping maximum number of substeps), this means that when stepSimulation is called with smaller timesteps then 'fixed substep' the motionstate is interpolated.

Browse Source 
renamed m_ccdSweptSphereRadius,
enabled wireframe debugDrawObject (using debugDrawer)
This commit is contained in:
ejcoumans
2006-10-18 03:28:42 +00:00
parent 1fe414d98a
commit 3a6942fb91
32 changed files with 406 additions and 185 deletions
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16
Demos/BasicDemo/BasicDemo.cpp
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@@ -38,7 +38,7 @@ int main(int argc,char** argv)
BasicDemo ccdDemo;
ccdDemo.initPhysics();
ccdDemo.setCameraDistance(50.f);
ccdDemo.setCameraDistance(10.f);
#ifdef CHECK_MEMORY_LEAKS
ccdDemo.exitPhysics();
@@ -60,8 +60,11 @@ void BasicDemo::clientMoveAndDisplay()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
//simple dynamics world doesn't handle fixed-time-stepping
float ms = m_clock.getTimeMilliseconds();
m_clock.reset();
if (m_dynamicsWorld)
m_dynamicsWorld->stepSimulation(deltaTime);
m_dynamicsWorld->stepSimulation(ms / 1000.f);
renderme();
@@ -95,13 +98,6 @@ void BasicDemo::displayCallback(void) {
///make this positive to show stack falling from a distance
///this shows the penalty tresholds in action, springy/spungy look
void BasicDemo::clientResetScene()
{
}
void BasicDemo::initPhysics()
{
@@ -164,7 +160,7 @@ void BasicDemo::initPhysics()
btTransform trans;
trans.setIdentity();
//stack them
int colsize = 10;
int colsize = 2;
int row = (i*HALF_EXTENTS*2)/(colsize*2*HALF_EXTENTS);
int row2 = row;
int col = (i)%(colsize)-colsize/2;

1
Demos/BasicDemo/BasicDemo.h
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@@ -52,7 +52,6 @@ class BasicDemo : public DemoApplication
virtual void displayCallback();
virtual void clientResetScene();
};

4
Demos/BspDemo/BspDemo.h
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@@ -30,9 +30,7 @@ class BspDemo : public DemoApplication
virtual void displayCallback();
virtual void clientResetScene()
{
}
};

84
Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
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@@ -25,7 +25,7 @@ subject to the following restrictions:
#include "btBulletDynamicsCommon.h"
#ifdef COMPARE_WITH_QUICKSTEP 1
#ifdef COMPARE_WITH_QUICKSTEP
#include "../Extras/quickstep/OdeConstraintSolver.h"
#endif //COMPARE_WITH_QUICKSTEP
@@ -114,6 +114,7 @@ GLDebugDrawer debugDrawer;
int main(int argc,char** argv)
{
CcdPhysicsDemo* ccdDemo = new CcdPhysicsDemo();
ccdDemo->initPhysics();
@@ -141,8 +142,32 @@ void CcdPhysicsDemo::clientMoveAndDisplay()
m_dynamicsWorld->getCollisionObjectArray()[0]->m_worldTransform.getOrigin() += kinTranslation;
#endif //USE_KINEMATIC_GROUND
float dt = m_clock.getTimeMilliseconds() * 0.001f;
m_clock.reset();
printf("dt = %f: ",dt);
if (m_dynamicsWorld)
m_dynamicsWorld->stepSimulation(deltaTime);
{
//during idle mode, just run 1 simulation step maximum
int maxSimSubSteps = m_idle ? 1 : 1;
if (m_idle)
dt = 1.0/420.f;
int numSimSteps = m_dynamicsWorld->stepSimulation(dt,maxSimSubSteps);
if (!numSimSteps)
printf("Interpolated transforms\n");
else
{
if (numSimSteps > maxSimSubSteps)
{
//detect dropping frames
printf("Dropped (%i) simulation steps out of %i\n",numSimSteps - maxSimSubSteps,numSimSteps);
} else
{
printf("Simulated (%i) steps\n",numSimSteps);
}
}
}
#ifdef USE_QUICKPROF
btProfiler::beginBlock("render");
@@ -183,59 +208,6 @@ void CcdPhysicsDemo::displayCallback(void) {
///make this positive to show stack falling from a distance
///this shows the penalty tresholds in action, springy/spungy look
void CcdPhysicsDemo::clientResetScene()
{
/*
int i;
int numObjects = m_physicsEnvironmentPtr->GetNumControllers();
for (i=0;i<numObjects;i++)
{
//skip the first object (static ground)
if (i>0)
{
CcdPhysicsController* ctrl = m_physicsEnvironmentPtr->GetPhysicsController(i);
if ((getDebugMode() & btIDebugDraw::DBG_NoHelpText))
{
if (ctrl->getRigidBody()->getCollisionShape()->getShapeType() != SPHERE_SHAPE_PROXYTYPE)
{
ctrl->getRigidBody()->SetCollisionShape(shapePtr[2]);
} else
{
ctrl->getRigidBody()->SetCollisionShape(shapePtr[1]);
}
btBroadphaseProxy* bpproxy = ctrl->getRigidBody()->m_broadphaseHandle;
m_physicsEnvironmentPtr->getBroadphase()->cleanProxyFromPairs(bpproxy);
}
//stack them
int colsize = 10;
int row = (i*CUBE_HALF_EXTENTS*2)/(colsize*2*CUBE_HALF_EXTENTS);
int row2 = row;
int col = (i)%(colsize)-colsize/2;
if (col>3)
{
col=11;
row2 |=1;
}
ctrl->setPosition(col*2*CUBE_HALF_EXTENTS + (row2%2)*CUBE_HALF_EXTENTS,
row*2*CUBE_HALF_EXTENTS+CUBE_HALF_EXTENTS+EXTRA_HEIGHT,0);
ctrl->setOrientation(0,0,0,1);
ctrl->SetLinearVelocity(0,0,0,false);
ctrl->SetAngularVelocity(0,0,0,false);
}
}
*/
}
///User-defined friction model, the most simple friction model available: no friction
@@ -368,7 +340,7 @@ void CcdPhysicsDemo::initPhysics()
body->m_ccdSquareMotionTreshold = CUBE_HALF_EXTENTS;
//Experimental: better estimation of CCD Time of Impact:
body->m_ccdSweptShereRadius = 0.2*CUBE_HALF_EXTENTS;
body->m_ccdSweptSphereRadius = 0.2*CUBE_HALF_EXTENTS;
#ifdef USER_DEFINED_FRICTION_MODEL
///Advanced use: override the friction solver

1
Demos/CcdPhysicsDemo/CcdPhysicsDemo.h
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@@ -28,7 +28,6 @@ class CcdPhysicsDemo : public DemoApplication
virtual void displayCallback();
virtual void clientResetScene();
};

3
Demos/ColladaDemo/ColladaDemo.h
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@@ -29,9 +29,6 @@ class ColladaDemo : public DemoApplication
virtual void displayCallback();
virtual void clientResetScene()
{
}
virtual void keyboardCallback(unsigned char key, int x, int y);

3
Demos/CollisionDemo/CollisionDemo.h
View File

@@ -28,9 +28,6 @@ class CollisionDemo : public DemoApplication
virtual void displayCallback();
virtual void clientResetScene()
{
}
};
#endif //COLLISION_DEMO_H

1
Demos/ConcaveDemo/ConcaveDemo.h
View File

@@ -29,7 +29,6 @@ class ConcaveDemo : public DemoApplication
virtual void displayCallback();
virtual void clientResetScene();
};

17
Demos/ConcaveDemo/ConcavePhysicsDemo.cpp
View File

@@ -192,23 +192,6 @@ void ConcaveDemo::clientMoveAndDisplay()
}
void ConcaveDemo::clientResetScene()
{
/*int numObj = m_physicsEnvironmentPtr->GetNumControllers();
//skip ground
for (int i=1;i<numObj;i++)
{
CcdPhysicsController* ctrl = m_physicsEnvironmentPtr->GetPhysicsController(i);
ctrl->setPosition(2*i,1,1);
ctrl->setOrientation(0,0,0,1);
ctrl->SetLinearVelocity(0,0,0,0);
ctrl->SetAngularVelocity(0,0,0,0);
}
*/
}

4
Demos/ConstraintDemo/ConstraintDemo.h
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@@ -28,9 +28,7 @@ class ConstraintDemo : public DemoApplication
virtual void displayCallback();
virtual void clientResetScene()
{
}
};
#endif //CONSTRAINT_DEMO_H

4
Demos/ContinuousConvexCollision/ContinuousConvexCollision.h
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@@ -28,9 +28,7 @@ class btContinuousConvexCollisionDemo : public DemoApplication
virtual void displayCallback();
virtual void clientResetScene()
{
}
};
#endif //CONTINUOUS_CONVEX_COLLISION_DEMO_H

5
Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.h
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@@ -28,10 +28,7 @@ class ConvexDecompositionDemo : public DemoApplication
virtual void displayCallback();
virtual void clientResetScene()
{
//not yet
}
};

4
Demos/GjkConvexCastDemo/LinearConvexCastDemo.h
View File

@@ -28,9 +28,7 @@ class LinearConvexCastDemo : public DemoApplication
virtual void displayCallback();
virtual void clientResetScene()
{
}
};
#endif //LINEAR_CONVEX_CAST_DEMO_H

43
Demos/OpenGL/DemoApplication.cpp
View File

@@ -21,8 +21,12 @@ subject to the following restrictions:
#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"//picking
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
#include "GL_ShapeDrawer.h"
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btDefaultMotionState.h"
#include "BMF_Api.h"
extern bool gDisableDeactivation;
@@ -646,7 +650,9 @@ btRigidBody* DemoApplication::localCreateRigidBody(float mass, const btTransform
if (isDynamic)
shape->calculateLocalInertia(mass,localInertia);
btRigidBody* body = new btRigidBody(mass,startTransform,shape,localInertia);
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
btRigidBody* body = new btRigidBody(mass,myMotionState,shape,localInertia);
body->m_userObjectPointer = myMotionState;
m_dynamicsWorld->addRigidBody(body);
@@ -656,7 +662,6 @@ btRigidBody* DemoApplication::localCreateRigidBody(float mass, const btTransform
void DemoApplication::renderme()
{
updateCamera();
@@ -670,7 +675,15 @@ void DemoApplication::renderme()
for (int i=0;i<numObjects;i++)
{
btCollisionObject* colObj = m_dynamicsWorld->getCollisionObjectArray()[i];
colObj->m_worldTransform.getOpenGLMatrix(m);
if (colObj->m_userObjectPointer)
{
btDefaultMotionState* myMotionState = (btDefaultMotionState*)colObj->m_userObjectPointer;
myMotionState->m_graphicsWorldTrans.getOpenGLMatrix(m);
} else
{
colObj->m_worldTransform.getOpenGLMatrix(m);
}
btVector3 wireColor(1.f,1.0f,0.5f); //wants deactivation
if (i & 1)
@@ -798,3 +811,27 @@ void DemoApplication::renderme()
}
}
void DemoApplication::clientResetScene()
{
int numObjects = m_dynamicsWorld->getNumCollisionObjects();
for (int i=0;i<numObjects;i++)
{
btCollisionObject* colObj = m_dynamicsWorld->getCollisionObjectArray()[i];
if (colObj->m_userObjectPointer)
{
btDefaultMotionState* myMotionState = (btDefaultMotionState*)colObj->m_userObjectPointer;
myMotionState->m_graphicsWorldTrans = myMotionState->m_startWorldTrans;
colObj->m_worldTransform = myMotionState->m_graphicsWorldTrans;
colObj->m_interpolationWorldTransform = myMotionState->m_startWorldTrans;
btRigidBody* body = btRigidBody::upcast(colObj);
if (body && !body->isStaticObject())
{
btRigidBody::upcast(colObj)->setLinearVelocity(btVector3(0,0,0));
btRigidBody::upcast(colObj)->setAngularVelocity(btVector3(0,0,0));
}
}
}
}

5
Demos/OpenGL/DemoApplication.h
View File

@@ -38,6 +38,7 @@ subject to the following restrictions:
#include "LinearMath/btVector3.h"
#include "LinearMath/btMatrix3x3.h"
#include "LinearMath/btTransform.h"
#include "LinearMath/btQuickProf.h"
class btCollisionShape;
class btDynamicsWorld;
@@ -50,6 +51,8 @@ class DemoApplication
protected:
hidden::Clock m_clock;
///this is the most important class
btDynamicsWorld* m_dynamicsWorld;
@@ -134,7 +137,7 @@ public:
virtual void clientMoveAndDisplay() = 0;
virtual void clientResetScene() =0 ;
virtual void clientResetScene();
///Demo functions
void shootBox(const btVector3& destination);

4
Demos/Raytracer/Raytracer.h
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@@ -28,9 +28,7 @@ class Raytracer : public DemoApplication
virtual void displayCallback();
virtual void clientResetScene()
{
}
};
#endif //RAYTRACER_H

4
Demos/SimplexDemo/SimplexDemo.h
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@@ -28,9 +28,7 @@ class SimplexDemo : public DemoApplication
virtual void displayCallback();
virtual void clientResetScene()
{
}
};
#endif //SIMPLEX_DEMO_H

16
Demos/UserCollisionAlgorithm/UserCollisionAlgorithm.cpp
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@@ -154,23 +154,7 @@ void UserCollisionAlgorithm::clientMoveAndDisplay()
}
void UserCollisionAlgorithm::clientResetScene()
{
/*
int numObj = m_physicsEnvironmentPtr->GetNumControllers();
//skip ground
for (int i=1;i<numObj;i++)
{
CcdPhysicsController* ctrl = m_physicsEnvironmentPtr->GetPhysicsController(i);
ctrl->setPosition(1,2*i,1);
ctrl->setOrientation(0,0,0,1);
ctrl->SetLinearVelocity(0,0,0,0);
ctrl->SetAngularVelocity(0,0,0,0);
}
*/
}

2
Demos/UserCollisionAlgorithm/UserCollisionAlgorithm.h
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@@ -28,7 +28,7 @@ class UserCollisionAlgorithm : public DemoApplication
virtual void displayCallback();
virtual void clientResetScene();
};