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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.

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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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84
Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
View File

@@ -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
View File

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