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+ CMake build system fix under Windows: don't define _WINDOWS to allow Glut console demo to build properly

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+ Allow user to enable useConvexConservativeDistanceUtil . Use dynamicsWorld->getDispatchInfo().m_useConvexConservativeDistanceUtil = true;
(see Demos/Benchmarks/Benchmark4 (convex objects falling down)
+ Fix for plane drawing (just wire-frame)
+ Gimpact: use collision margin of 0.07 for demo (because BULLET_TRIANGLE_COLLISION is used)
+ replace dot,cross,distance,angle,triple in btVector3 by btDot, btCross,btDistance,btAngle,btDistance to avoid naming conflicts
+ Some fixes in GJK penetration depth normal direction (broken in a previous commit)
+ fix in calculateDiffAxisAngleQuaternion to make ConvexConservativeDistanceUtil work properly
+ allow debug drawing to debug btContinuousConvexCollision
+ add comment/warning that btTriangleMesh::findOrAddVertex is an internal method, users should use addTriangle instead
This commit is contained in:
erwin.coumans
2009-07-15 16:47:48 +00:00
parent a27b349dd0
commit 40c73f327c
35 changed files with 343 additions and 222 deletions
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4
Demos/Benchmarks/BenchmarkDemo.cpp
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@@ -302,7 +302,9 @@ void BenchmarkDemo::initPhysics()
btDiscreteDynamicsWorld* dynamicsWorld;
m_dynamicsWorld = dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_solver,m_collisionConfiguration);
dynamicsWorld->getSimulationIslandManager()->setSplitIslands(false);
//dynamicsWorld->getSimulationIslandManager()->setSplitIslands(false);
dynamicsWorld->getDispatchInfo().m_useConvexConservativeDistanceUtil = true;
dynamicsWorld->getDispatchInfo().m_convexConservativeDistanceThreshold = 0.01;
m_dynamicsWorld->setGravity(btVector3(0,-10,0));

4
Demos/Benchmarks/main.cpp
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@@ -26,10 +26,10 @@ int main(int argc,char** argv)
{
GLDebugDrawer gDebugDrawer;
BenchmarkDemo1 benchmarkDemo;
// BenchmarkDemo1 benchmarkDemo;
// BenchmarkDemo2 benchmarkDemo;
// BenchmarkDemo3 benchmarkDemo;
// BenchmarkDemo4 benchmarkDemo;
BenchmarkDemo4 benchmarkDemo;
// BenchmarkDemo5 benchmarkDemo;
// BenchmarkDemo6 benchmarkDemo;
// BenchmarkDemo7 benchmarkDemo;

10
Demos/ConvexDecompositionDemo/main.cpp
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@@ -5,6 +5,8 @@
#include "GLDebugDrawer.h"
#include "btBulletDynamicsCommon.h"
#ifndef _WINDOWS
GLDebugDrawer gDebugDrawer;
int main(int argc,char** argv)
@@ -29,4 +31,10 @@ int main(int argc,char** argv)
return 0;
}
#else
DemoApplication* createDemo()
{
ConvexDecompositionDemo* convexDecompDemo = new ConvexDecompositionDemo();
return convexDecompDemo;
}
#endif _WINDOWS

4
Demos/GimpactTestDemo/GimpactTestDemo.cpp
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@@ -280,7 +280,10 @@ void GimpactConcaveDemo::initGImpactCollision()
btGImpactConvexDecompositionShape * trimesh = new
btGImpactConvexDecompositionShape(
m_indexVertexArrays, btVector3(1.f,1.f,1.f),btScalar(0.01));
trimesh->setMargin(0.07);
trimesh->updateBound();
#else
btGImpactMeshShape * trimesh = new btGImpactMeshShape(m_indexVertexArrays);
trimesh->setLocalScaling(btVector3(1.f,1.f,1.f));
@@ -314,6 +317,7 @@ void GimpactConcaveDemo::initGImpactCollision()
btGImpactConvexDecompositionShape * trimesh2 = new
btGImpactConvexDecompositionShape(
m_indexVertexArrays2, btVector3(4.f,4.f,4.f),btScalar(0.01));
trimesh2->setMargin(0.07);
trimesh2->updateBound();
#else
btGImpactMeshShape * trimesh2 = new btGImpactMeshShape(m_indexVertexArrays2);

2
Demos/GimpactTestDemo/GimpactTestDemo.h
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@@ -21,7 +21,7 @@ class btDefaultCollisionConfiguration;
//#define BULLET_TRIANGLE_COLLISION 1
#define BULLET_GIMPACT 1
#define BULLET_GIMPACT_CONVEX_DECOMPOSITION 1
//#define BULLET_GIMPACT_CONVEX_DECOMPOSITION 1
#define TEST_GIMPACT_TORUS

25
Demos/Gpu3dDemo/BasicDemo3d.cpp
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@@ -25,15 +25,15 @@ subject to the following restrictions:
#include "BulletMultiThreaded/SpuGatheringCollisionDispatcher.h"
#include "BulletMultiThreaded/Win32ThreadSupport.h"
#include "GLDebugFont.h"
//@ extern int gSkippedCol;
//@ extern int gProcessedCol;
extern int gSkippedCol;
extern int gProcessedCol;
#define SPEC_TEST 0
#ifdef _DEBUG
#define LARGE_DEMO 0
#define LARGE_DEMO 1
// #define LARGE_DEMO 1
#else
#define LARGE_DEMO 1
@@ -192,6 +192,8 @@ void BasicDemo3D::initPhysics()
btDefaultCollisionConstructionInfo dci;
dci.m_defaultMaxPersistentManifoldPoolSize=100000;
dci.m_defaultMaxCollisionAlgorithmPoolSize=100000;
dci.m_customCollisionAlgorithmMaxElementSize = sizeof(SpuContactManifoldCollisionAlgorithm);
///SpuContactManifoldCollisionAlgorithm is larger than any of the other collision algorithms
//@@ dci.m_customMaxCollisionAlgorithmSize = sizeof(SpuContactManifoldCollisionAlgorithm);
@@ -243,13 +245,18 @@ btCudaBroadphase::btCudaBroadphase( btOverlappingPairCache* overlappingPairCache
#ifdef USE_CUDA_BROADPHASE
m_broadphase = new btCudaBroadphase(gPairCache, gWorldMin, gWorldMax,numOfCellsX, numOfCellsY, numOfCellsZ,MAX_SMALL_PROXIES,20,18,8,1./1.5);
#else
#if DBVT
btDbvtBroadphase* dbvt = new btDbvtBroadphase(gPairCache);
m_broadphase = dbvt;
dbvt->m_deferedcollide=false;
dbvt->m_prediction = 0.f;
#else
m_broadphase = new btAxisSweep3(gWorldMin,gWorldMax,32000,gPairCache,true);//(btDbvtBroadphase(gPairCache);
#endif //DBVT
#endif
//m_broadphase = new btAxisSweep3(gWorldMin,gWorldMax,32000,0,true);//(btDbvtBroadphase(gPairCache);
// create solvers for tests
///the default constraint solver
@@ -808,7 +815,6 @@ void BasicDemo3D::outputDebugInfo(int & xOffset,int & yStart, int yIncr)
sprintf(buf,"# pairs = %d",getDynamicsWorld()->getBroadphase()->getOverlappingPairCache()->getNumOverlappingPairs());
GLDebugDrawString(xOffset,yStart,buf);
/*@@
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
@@ -822,12 +828,13 @@ void BasicDemo3D::outputDebugInfo(int & xOffset,int & yStart, int yIncr)
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"culled narrowphase collisions=%f",btScalar(gSkippedCol)/(gProcessedCol+gSkippedCol));
btScalar fract = (gProcessedCol+gSkippedCol)? btScalar(gSkippedCol)/(gProcessedCol+gSkippedCol) : 0.f;
sprintf(buf,"culled narrowphase collisions=%f",fract);
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
@@*/
gProcessedCol = 0;
gSkippedCol = 0;
}
} // BasicDemo3D::outputDebugInfo()

6
Demos/HeightFieldFluidDemo/HfFluidDemo.cpp
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@@ -1065,11 +1065,11 @@ void HfFluidDemo::clientMoveAndDisplay()
const btVector3 rayTo=getRayTo(x,y);
const btVector3 rayDir=(rayTo-rayFrom).normalized();
const btVector3 N=(m_cameraTargetPosition-m_cameraPosition).normalized();
const btScalar O=dot(m_impact,N);
const btScalar den=dot(N,rayDir);
const btScalar O=btDot(m_impact,N);
const btScalar den=btDot(N,rayDir);
if((den*den)>0)
{
const btScalar num=O-dot(N,rayFrom);
const btScalar num=O-btDot(N,rayFrom);
const btScalar hit=num/den;
if((hit>0)&&(hit<1500))
{

4
Demos/HeightFieldFluidDemo/HfFluidDemo_GL_ShapeDrawer.cpp
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@@ -557,8 +557,8 @@ void HfFluidDemo_GL_ShapeDrawer::drawShadow(btScalar* m,const btVector3& extrus
glBegin(GL_QUADS);
for(int i=0;i<sc->m_edges.size();++i)
{
const btScalar d=dot(sc->m_edges[i].n[0],extrusion);
if((d*dot(sc->m_edges[i].n[1],extrusion))<0)
const btScalar d=btDot(sc->m_edges[i].n[0],extrusion);
if((d*btDot(sc->m_edges[i].n[1],extrusion))<0)
{
const int q= d<0?1:0;
const btVector3& a= hull->getVertexPointer()[sc->m_edges[i].v[q]];

31
Demos/OpenGL/GLDebugDrawer.cpp
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@@ -39,7 +39,34 @@ void GLDebugDrawer::drawSphere (const btVector3& p, btScalar radius, const btVec
glColor4f (color.getX(), color.getY(), color.getZ(), btScalar(1.0f));
glPushMatrix ();
glTranslatef (p.getX(), p.getY(), p.getZ());
// glutSolidSphere (radius, 10, 10);
int lats = 5;
int longs = 5;
int i, j;
for(i = 0; i <= lats; i++) {
btScalar lat0 = SIMD_PI * (-btScalar(0.5) + (btScalar) (i - 1) / lats);
btScalar z0 = radius*sin(lat0);
btScalar zr0 = radius*cos(lat0);
btScalar lat1 = SIMD_PI * (-btScalar(0.5) + (btScalar) i / lats);
btScalar z1 = radius*sin(lat1);
btScalar zr1 = radius*cos(lat1);
glBegin(GL_QUAD_STRIP);
for(j = 0; j <= longs; j++) {
btScalar lng = 2 * SIMD_PI * (btScalar) (j - 1) / longs;
btScalar x = cos(lng);
btScalar y = sin(lng);
glNormal3f(x * zr0, y * zr0, z0);
glVertex3f(x * zr0, y * zr0, z0);
glNormal3f(x * zr1, y * zr1, z1);
glVertex3f(x * zr1, y * zr1, z1);
}
glEnd();
}
glPopMatrix();
}
@@ -62,7 +89,7 @@ void GLDebugDrawer::drawTriangle(const btVector3& a,const btVector3& b,const btV
{
// if (m_debugMode > 0)
{
const btVector3 n=cross(b-a,c-a).normalized();
const btVector3 n=btCross(b-a,c-a).normalized();
glBegin(GL_TRIANGLES);
glColor4f(color.getX(), color.getY(), color.getZ(),alpha);
glNormal3d(n.getX(),n.getY(),n.getZ());

9
Demos/OpenGL/GL_ShapeDrawer.cpp
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@@ -365,7 +365,7 @@ GL_ShapeDrawer::ShapeCache* GL_ShapeDrawer::cache(btConvexShape* shape)
for(int i=0;i<ni;i+=3)
{
const unsigned int* ti=pi+i;
const btVector3 nrm=cross(pv[ti[1]]-pv[ti[0]],pv[ti[2]]-pv[ti[0]]).normalized();
const btVector3 nrm=btCross(pv[ti[1]]-pv[ti[0]],pv[ti[2]]-pv[ti[0]]).normalized();
for(int j=2,k=0;k<3;j=k++)
{
const unsigned int a=ti[j];
@@ -857,8 +857,7 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
else
{
#else
if (shape->isConcave())//>getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE||shape->getShapeType() == GIMPACT_SHAPE_PROXYTYPE)
// if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
if (shape->isConcave() && !shape->isInfinite())
{
btConcaveShape* concaveMesh = (btConcaveShape*) shape;
@@ -939,8 +938,8 @@ void GL_ShapeDrawer::drawShadow(btScalar* m,const btVector3& extrusion,const bt
glBegin(GL_QUADS);
for(int i=0;i<sc->m_edges.size();++i)
{
const btScalar d=dot(sc->m_edges[i].n[0],extrusion);
if((d*dot(sc->m_edges[i].n[1],extrusion))<0)
const btScalar d=btDot(sc->m_edges[i].n[0],extrusion);
if((d*btDot(sc->m_edges[i].n[1],extrusion))<0)
{
const int q= d<0?1:0;
const btVector3& a= hull->getVertexPointer()[sc->m_edges[i].v[q]];

10
Demos/SoftDemo/SoftDemo.cpp
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@@ -118,11 +118,11 @@ void SoftDemo::clientMoveAndDisplay()
const btVector3 rayTo=getRayTo(x,y);
const btVector3 rayDir=(rayTo-rayFrom).normalized();
const btVector3 N=(m_cameraTargetPosition-m_cameraPosition).normalized();
const btScalar O=dot(m_impact,N);
const btScalar den=dot(N,rayDir);
const btScalar O=btDot(m_impact,N);
const btScalar den=btDot(N,rayDir);
if((den*den)>0)
{
const btScalar num=O-dot(N,rayFrom);
const btScalar num=O-btDot(N,rayFrom);
const btScalar hit=num/den;
if((hit>0)&&(hit<1500))
{
@@ -1442,8 +1442,8 @@ void SoftDemo::renderme()
const btScalar a= (btScalar)0.5;
const btVector3 n= m_softBodyWorldInfo.water_normal;
const btVector3 o= -n*m_softBodyWorldInfo.water_offset;
const btVector3 x= cross(n,axis[n.minAxis()]).normalized();
const btVector3 y= cross(x,n).normalized();
const btVector3 x= btCross(n,axis[n.minAxis()]).normalized();
const btVector3 y= btCross(x,n).normalized();
const btScalar s= 25;
idraw->drawTriangle(o-x*s-y*s,o+x*s-y*s,o+x*s+y*s,c,a);
idraw->drawTriangle(o-x*s-y*s,o+x*s+y*s,o-x*s+y*s,c,a);