updated autogenerated msvc projectfiles, minor fix in Gimpact/btGImpactShape.h (shapeType) and btWin32ThreadInterface.
This commit is contained in:
erwin.coumans
@@ -1,478 +1,478 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
//#define USE_PARALLEL_SOLVER 1 //experimental parallel solver
|
||||
#define USE_PARALLEL_DISPATCHER 1
|
||||
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
#include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h"
|
||||
#include "BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h"
|
||||
|
||||
#ifdef USE_PARALLEL_DISPATCHER
|
||||
#include "BulletMultiThreaded/SpuGatheringCollisionDispatcher.h"
|
||||
#include "BulletMultiThreaded/PlatformDefinitions.h"
|
||||
|
||||
#ifdef USE_LIBSPE2
|
||||
#include "BulletMultiThreaded/SpuLibspe2Support.h"
|
||||
#elif defined (WIN32)
|
||||
#include "BulletMultiThreaded/Win32ThreadSupport.h"
|
||||
#include "BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h"
|
||||
|
||||
#elif defined (USE_PTHREADS)
|
||||
|
||||
#include "BulletMultiThreaded/PosixThreadSupport.h"
|
||||
#include "BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h"
|
||||
|
||||
#else
|
||||
//other platforms run the parallel code sequentially (until pthread support or other parallel implementation is added)
|
||||
#include "BulletMultiThreaded/SequentialThreadSupport.h"
|
||||
#include "BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h"
|
||||
#endif //USE_LIBSPE2
|
||||
|
||||
#ifdef USE_PARALLEL_SOLVER
|
||||
#include "BulletMultiThreaded/SpuParallelSolver.h"
|
||||
#include "BulletMultiThreaded/SpuSolverTask/SpuParallellSolverTask.h"
|
||||
#endif //USE_PARALLEL_SOLVER
|
||||
|
||||
#endif//USE_PARALLEL_DISPATCHER
|
||||
|
||||
|
||||
#include "LinearMath/btQuickprof.h"
|
||||
#include "LinearMath/btIDebugDraw.h"
|
||||
|
||||
|
||||
#include "BMF_Api.h"
|
||||
#include <stdio.h> //printf debugging
|
||||
|
||||
#include "MultiThreadedDemo.h"
|
||||
#include "GL_ShapeDrawer.h"
|
||||
|
||||
#include "GlutStuff.h"
|
||||
|
||||
|
||||
extern float eye[3];
|
||||
extern int glutScreenWidth;
|
||||
extern int glutScreenHeight;
|
||||
|
||||
const int maxProxies = 32766;
|
||||
const int maxOverlap = 65535;
|
||||
|
||||
|
||||
|
||||
|
||||
#ifdef _DEBUG
|
||||
const int gNumObjects = 120;
|
||||
#else
|
||||
const int gNumObjects = 120;//try this in release mode: 3000. never go above 16384, unless you increate maxNumObjects value in DemoApplication.cp
|
||||
#endif
|
||||
|
||||
|
||||
const int maxNumObjects = 32760;
|
||||
|
||||
static int shapeIndex[maxNumObjects];
|
||||
|
||||
|
||||
#define CUBE_HALF_EXTENTS 0.5
|
||||
|
||||
#define EXTRA_HEIGHT -10.f
|
||||
//GL_LineSegmentShape shapeE(btPoint3(-50,0,0),
|
||||
// btPoint3(50,0,0));
|
||||
|
||||
|
||||
void MultiThreadedDemo::createStack( btCollisionShape* boxShape, float halfCubeSize, int size, float zPos )
|
||||
{
|
||||
btTransform trans;
|
||||
trans.setIdentity();
|
||||
|
||||
for(int i=0; i<size; i++)
|
||||
{
|
||||
// This constructs a row, from left to right
|
||||
int rowSize = size - i;
|
||||
for(int j=0; j< rowSize; j++)
|
||||
{
|
||||
btVector4 pos;
|
||||
pos.setValue(
|
||||
-rowSize * halfCubeSize + halfCubeSize + j * 2.0f * halfCubeSize,
|
||||
halfCubeSize + i * halfCubeSize * 2.0f,
|
||||
zPos);
|
||||
|
||||
trans.setOrigin(pos);
|
||||
btScalar mass = 1.f;
|
||||
|
||||
btRigidBody* body = 0;
|
||||
body = localCreateRigidBody(mass,trans,boxShape);
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
////////////////////////////////////
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
//experimental jitter damping (1 = no damping, 0 = total damping once motion below threshold)
|
||||
extern btScalar gJitterVelocityDampingFactor;
|
||||
|
||||
|
||||
|
||||
|
||||
extern int gNumManifold;
|
||||
extern int gOverlappingPairs;
|
||||
extern int gTotalContactPoints;
|
||||
|
||||
void MultiThreadedDemo::clientMoveAndDisplay()
|
||||
{
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
|
||||
|
||||
float dt = getDeltaTimeMicroseconds() * 0.000001f;
|
||||
|
||||
// printf("dt = %f: ",dt);
|
||||
|
||||
if (m_dynamicsWorld)
|
||||
{
|
||||
|
||||
//#define FIXED_STEP 1
|
||||
#ifdef FIXED_STEP
|
||||
m_dynamicsWorld->stepSimulation(1.0f/60.f,0);
|
||||
|
||||
#else
|
||||
//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 = 0;
|
||||
numSimSteps = m_dynamicsWorld->stepSimulation(dt,maxSimSubSteps);
|
||||
|
||||
//optional but useful: debug drawing
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
|
||||
#ifdef VERBOSE_TIMESTEPPING_CONSOLEOUTPUT
|
||||
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);
|
||||
}
|
||||
}
|
||||
#endif //VERBOSE_TIMESTEPPING_CONSOLEOUTPUT
|
||||
|
||||
#endif
|
||||
}
|
||||
|
||||
#ifdef USE_QUICKPROF
|
||||
btProfiler::beginBlock("render");
|
||||
#endif //USE_QUICKPROF
|
||||
|
||||
renderme();
|
||||
|
||||
|
||||
//render the graphics objects, with center of mass shift
|
||||
|
||||
updateCamera();
|
||||
|
||||
|
||||
|
||||
#ifdef USE_QUICKPROF
|
||||
btProfiler::endBlock("render");
|
||||
#endif
|
||||
glFlush();
|
||||
|
||||
gTotalContactPoints = 0;
|
||||
glutSwapBuffers();
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
void MultiThreadedDemo::displayCallback(void) {
|
||||
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
//#define USE_PARALLEL_SOLVER 1 //experimental parallel solver
|
||||
#define USE_PARALLEL_DISPATCHER 1
|
||||
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
#include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h"
|
||||
#include "BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h"
|
||||
|
||||
#ifdef USE_PARALLEL_DISPATCHER
|
||||
#include "BulletMultiThreaded/SpuGatheringCollisionDispatcher.h"
|
||||
#include "BulletMultiThreaded/PlatformDefinitions.h"
|
||||
|
||||
#ifdef USE_LIBSPE2
|
||||
#include "BulletMultiThreaded/SpuLibspe2Support.h"
|
||||
#elif defined (WIN32)
|
||||
#include "BulletMultiThreaded/Win32ThreadSupport.h"
|
||||
#include "BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h"
|
||||
|
||||
#elif defined (USE_PTHREADS)
|
||||
|
||||
#include "BulletMultiThreaded/PosixThreadSupport.h"
|
||||
#include "BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h"
|
||||
|
||||
#else
|
||||
//other platforms run the parallel code sequentially (until pthread support or other parallel implementation is added)
|
||||
#include "BulletMultiThreaded/SequentialThreadSupport.h"
|
||||
#include "BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h"
|
||||
#endif //USE_LIBSPE2
|
||||
|
||||
#ifdef USE_PARALLEL_SOLVER
|
||||
#include "BulletMultiThreaded/SpuParallelSolver.h"
|
||||
#include "BulletMultiThreaded/SpuSolverTask/SpuParallellSolverTask.h"
|
||||
#endif //USE_PARALLEL_SOLVER
|
||||
|
||||
#endif//USE_PARALLEL_DISPATCHER
|
||||
|
||||
|
||||
#include "LinearMath/btQuickprof.h"
|
||||
#include "LinearMath/btIDebugDraw.h"
|
||||
|
||||
|
||||
#include "BMF_Api.h"
|
||||
#include <stdio.h> //printf debugging
|
||||
|
||||
#include "MultiThreadedDemo.h"
|
||||
#include "GL_ShapeDrawer.h"
|
||||
|
||||
#include "GlutStuff.h"
|
||||
|
||||
|
||||
extern float eye[3];
|
||||
extern int glutScreenWidth;
|
||||
extern int glutScreenHeight;
|
||||
|
||||
const int maxProxies = 32766;
|
||||
const int maxOverlap = 65535;
|
||||
|
||||
|
||||
|
||||
|
||||
#ifdef _DEBUG
|
||||
const int gNumObjects = 120;
|
||||
#else
|
||||
const int gNumObjects = 120;//try this in release mode: 3000. never go above 16384, unless you increate maxNumObjects value in DemoApplication.cp
|
||||
#endif
|
||||
|
||||
|
||||
const int maxNumObjects = 32760;
|
||||
|
||||
static int shapeIndex[maxNumObjects];
|
||||
|
||||
|
||||
#define CUBE_HALF_EXTENTS 0.5
|
||||
|
||||
#define EXTRA_HEIGHT -10.f
|
||||
//GL_LineSegmentShape shapeE(btPoint3(-50,0,0),
|
||||
// btPoint3(50,0,0));
|
||||
|
||||
|
||||
void MultiThreadedDemo::createStack( btCollisionShape* boxShape, float halfCubeSize, int size, float zPos )
|
||||
{
|
||||
btTransform trans;
|
||||
trans.setIdentity();
|
||||
|
||||
for(int i=0; i<size; i++)
|
||||
{
|
||||
// This constructs a row, from left to right
|
||||
int rowSize = size - i;
|
||||
for(int j=0; j< rowSize; j++)
|
||||
{
|
||||
btVector4 pos;
|
||||
pos.setValue(
|
||||
-rowSize * halfCubeSize + halfCubeSize + j * 2.0f * halfCubeSize,
|
||||
halfCubeSize + i * halfCubeSize * 2.0f,
|
||||
zPos);
|
||||
|
||||
trans.setOrigin(pos);
|
||||
btScalar mass = 1.f;
|
||||
|
||||
btRigidBody* body = 0;
|
||||
body = localCreateRigidBody(mass,trans,boxShape);
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
////////////////////////////////////
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
//experimental jitter damping (1 = no damping, 0 = total damping once motion below threshold)
|
||||
extern btScalar gJitterVelocityDampingFactor;
|
||||
|
||||
|
||||
|
||||
|
||||
extern int gNumManifold;
|
||||
extern int gOverlappingPairs;
|
||||
extern int gTotalContactPoints;
|
||||
|
||||
void MultiThreadedDemo::clientMoveAndDisplay()
|
||||
{
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
|
||||
|
||||
float dt = getDeltaTimeMicroseconds() * 0.000001f;
|
||||
|
||||
// printf("dt = %f: ",dt);
|
||||
|
||||
if (m_dynamicsWorld)
|
||||
{
|
||||
|
||||
//#define FIXED_STEP 1
|
||||
#ifdef FIXED_STEP
|
||||
m_dynamicsWorld->stepSimulation(1.0f/60.f,0);
|
||||
|
||||
#else
|
||||
//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 = 0;
|
||||
numSimSteps = m_dynamicsWorld->stepSimulation(dt,maxSimSubSteps);
|
||||
|
||||
//optional but useful: debug drawing
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
|
||||
#ifdef VERBOSE_TIMESTEPPING_CONSOLEOUTPUT
|
||||
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);
|
||||
}
|
||||
}
|
||||
#endif //VERBOSE_TIMESTEPPING_CONSOLEOUTPUT
|
||||
|
||||
#endif
|
||||
}
|
||||
|
||||
#ifdef USE_QUICKPROF
|
||||
btProfiler::beginBlock("render");
|
||||
#endif //USE_QUICKPROF
|
||||
|
||||
renderme();
|
||||
|
||||
|
||||
//render the graphics objects, with center of mass shift
|
||||
|
||||
updateCamera();
|
||||
|
||||
|
||||
|
||||
#ifdef USE_QUICKPROF
|
||||
btProfiler::endBlock("render");
|
||||
#endif
|
||||
glFlush();
|
||||
|
||||
gTotalContactPoints = 0;
|
||||
glutSwapBuffers();
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
void MultiThreadedDemo::displayCallback(void) {
|
||||
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
//optional but useful: debug drawing
|
||||
if (m_dynamicsWorld)
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
|
||||
|
||||
renderme();
|
||||
|
||||
glFlush();
|
||||
glutSwapBuffers();
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
void MultiThreadedDemo::initPhysics()
|
||||
{
|
||||
#ifdef USE_PARALLEL_DISPATCHER
|
||||
m_threadSupportSolver = 0;
|
||||
m_threadSupportCollision = 0;
|
||||
#endif
|
||||
|
||||
//#define USE_GROUND_PLANE 1
|
||||
#ifdef USE_GROUND_PLANE
|
||||
m_collisionShapes.push_back(new btStaticPlaneShape(btVector3(0,1,0),0.5));
|
||||
#else
|
||||
|
||||
///Please don't make the box sizes larger then 1000: the collision detection will be inaccurate.
|
||||
///See http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=346
|
||||
m_collisionShapes.push_back(new btBoxShape (btVector3(200,CUBE_HALF_EXTENTS,200)));
|
||||
#endif
|
||||
|
||||
m_collisionShapes.push_back(new btBoxShape (btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)));
|
||||
|
||||
|
||||
|
||||
setCameraDistance(32.5f);
|
||||
|
||||
m_azi = 90.f;
|
||||
|
||||
m_dispatcher=0;
|
||||
m_collisionConfiguration = new btDefaultCollisionConfiguration();
|
||||
|
||||
#ifdef USE_PARALLEL_DISPATCHER
|
||||
int maxNumOutstandingTasks = 4;
|
||||
|
||||
#ifdef USE_WIN32_THREADING
|
||||
|
||||
m_threadSupportCollision = new Win32ThreadSupport(Win32ThreadSupport::Win32ThreadConstructionInfo(
|
||||
"collision",
|
||||
processCollisionTask,
|
||||
createCollisionLocalStoreMemory,
|
||||
maxNumOutstandingTasks));
|
||||
#else
|
||||
|
||||
#ifdef USE_LIBSPE2
|
||||
|
||||
spe_program_handle_t * program_handle;
|
||||
#ifndef USE_CESOF
|
||||
program_handle = spe_image_open ("./spuCollision.elf");
|
||||
if (program_handle == NULL)
|
||||
{
|
||||
perror( "SPU OPEN IMAGE ERROR\n");
|
||||
}
|
||||
else
|
||||
{
|
||||
printf( "IMAGE OPENED\n");
|
||||
}
|
||||
#else
|
||||
extern spe_program_handle_t spu_program;
|
||||
program_handle = &spu_program;
|
||||
#endif
|
||||
SpuLibspe2Support* threadSupportCollision = new SpuLibspe2Support( program_handle, maxNumOutstandingTasks);
|
||||
#elif defined (USE_PTHREADS)
|
||||
PosixThreadSupport::ThreadConstructionInfo constructionInfo("collision",
|
||||
processCollisionTask,
|
||||
createCollisionLocalStoreMemory,
|
||||
maxNumOutstandingTasks);
|
||||
m_threadSupportCollision = new PosixThreadSupport(constructionInfo);
|
||||
#else
|
||||
|
||||
SequentialThreadSupport::SequentialThreadConstructionInfo colCI("collision",processCollisionTask,createCollisionLocalStoreMemory);
|
||||
SequentialThreadSupport* m_threadSupportCollision = new SequentialThreadSupport(colCI);
|
||||
|
||||
#endif //USE_LIBSPE2
|
||||
|
||||
///Playstation 3 SPU (SPURS) version is available through PS3 Devnet
|
||||
/// For Unix/Mac someone could implement a pthreads version of btThreadSupportInterface?
|
||||
///you can hook it up to your custom task scheduler by deriving from btThreadSupportInterface
|
||||
#endif
|
||||
|
||||
|
||||
m_dispatcher = new SpuGatheringCollisionDispatcher(m_threadSupportCollision,maxNumOutstandingTasks,m_collisionConfiguration);
|
||||
// m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
|
||||
#else
|
||||
|
||||
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
|
||||
#endif //USE_PARALLEL_DISPATCHER
|
||||
|
||||
|
||||
btVector3 worldAabbMin(-1000,-1000,-1000);
|
||||
btVector3 worldAabbMax(1000,1000,1000);
|
||||
|
||||
m_broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
|
||||
|
||||
|
||||
|
||||
#ifdef USE_PARALLEL_SOLVER
|
||||
|
||||
#ifdef USE_WIN32_THREADING
|
||||
m_threadSupportSolver = new Win32ThreadSupport(Win32ThreadSupport::Win32ThreadConstructionInfo(
|
||||
"solver",
|
||||
processSolverTask,
|
||||
createSolverLocalStoreMemory,
|
||||
maxNumOutstandingTasks));
|
||||
#elif defined (USE_PTHREADS)
|
||||
PosixThreadSupport::ThreadConstructionInfo solverConstructionInfo("solver", processSolverTask,
|
||||
createSolverLocalStoreMemory, maxNumOutstandingTasks);
|
||||
|
||||
m_threadSupportSolver = new PosixThreadSupport(solverConstructionInfo);
|
||||
#else
|
||||
//for now use sequential version
|
||||
SequentialThreadSupport::SequentialThreadConstructionInfo solverCI("solver",processSolverTask,createSolverLocalStoreMemory);
|
||||
m_threadSupportSolver = new SequentialThreadSupport(solverCI);
|
||||
|
||||
#endif //USE_WIN32_THREADING
|
||||
m_solver = new btParallelSequentialImpulseSolver(m_threadSupportSolver,maxNumOutstandingTasks);
|
||||
|
||||
#else
|
||||
|
||||
btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver();
|
||||
|
||||
m_solver = solver;
|
||||
//default solverMode is SOLVER_RANDMIZE_ORDER. Warmstarting seems not to improve convergence, see
|
||||
//solver->setSolverMode(0);//btSequentialImpulseConstraintSolver::SOLVER_USE_WARMSTARTING | btSequentialImpulseConstraintSolver::SOLVER_RANDMIZE_ORDER);
|
||||
|
||||
#endif //USE_PARALLEL_SOLVER
|
||||
|
||||
btDiscreteDynamicsWorld* world = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
|
||||
m_dynamicsWorld = world;
|
||||
|
||||
world->getSolverInfo().m_numIterations = 4;
|
||||
|
||||
m_dynamicsWorld->getDispatchInfo().m_enableSPU = true;
|
||||
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
|
||||
|
||||
|
||||
|
||||
int i;
|
||||
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
|
||||
|
||||
for (i=0;i<gNumObjects;i++)
|
||||
{
|
||||
if (i>0)
|
||||
{
|
||||
shapeIndex[i] = 1;//sphere
|
||||
}
|
||||
else
|
||||
shapeIndex[i] = 0;
|
||||
}
|
||||
|
||||
|
||||
btTransform trans;
|
||||
trans.setIdentity();
|
||||
|
||||
btScalar halfExtents = CUBE_HALF_EXTENTS;
|
||||
|
||||
trans.setOrigin(btVector3(0,-halfExtents,0));
|
||||
|
||||
|
||||
|
||||
localCreateRigidBody(0.f,trans,m_collisionShapes[shapeIndex[0]]);
|
||||
|
||||
int numWalls = 15;
|
||||
int wallHeight = 15;
|
||||
float wallDistance = 3;
|
||||
|
||||
|
||||
for ( i=0;i<numWalls;i++)
|
||||
{
|
||||
float zPos = (i-numWalls/2) * wallDistance;
|
||||
createStack(m_collisionShapes[shapeIndex[1]],halfExtents,wallHeight,zPos);
|
||||
}
|
||||
#define DESTROYER_BALL 1
|
||||
#ifdef DESTROYER_BALL
|
||||
btTransform sphereTrans;
|
||||
sphereTrans.setIdentity();
|
||||
sphereTrans.setOrigin(btVector3(0,2,40));
|
||||
btSphereShape* ball = new btSphereShape(2.f);
|
||||
m_collisionShapes.push_back(ball);
|
||||
btRigidBody* ballBody = localCreateRigidBody(10000.f,sphereTrans,ball);
|
||||
ballBody->setLinearVelocity(btVector3(0,0,-10));
|
||||
#endif
|
||||
// clientResetScene();
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
void MultiThreadedDemo::exitPhysics()
|
||||
{
|
||||
|
||||
//cleanup in the reverse order of creation/initialization
|
||||
|
||||
//remove the rigidbodies from the dynamics world and delete them
|
||||
int i;
|
||||
for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
|
||||
{
|
||||
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
|
||||
btRigidBody* body = btRigidBody::upcast(obj);
|
||||
if (body && body->getMotionState())
|
||||
{
|
||||
delete body->getMotionState();
|
||||
}
|
||||
m_dynamicsWorld->removeCollisionObject( obj );
|
||||
delete obj;
|
||||
}
|
||||
|
||||
//delete collision shapes
|
||||
for (int j=0;j<m_collisionShapes.size();j++)
|
||||
{
|
||||
btCollisionShape* shape = m_collisionShapes[j];
|
||||
m_collisionShapes[j] = 0;
|
||||
delete shape;
|
||||
}
|
||||
|
||||
//delete dynamics world
|
||||
delete m_dynamicsWorld;
|
||||
|
||||
//delete solver
|
||||
delete m_solver;
|
||||
#ifdef USE_PARALLEL_DISPATCHER
|
||||
if (m_threadSupportSolver)
|
||||
{
|
||||
delete m_threadSupportSolver;
|
||||
}
|
||||
#endif
|
||||
|
||||
//delete broadphase
|
||||
delete m_broadphase;
|
||||
|
||||
//delete dispatcher
|
||||
delete m_dispatcher;
|
||||
|
||||
#ifdef USE_PARALLEL_DISPATCHER
|
||||
if (m_threadSupportCollision)
|
||||
{
|
||||
delete m_threadSupportCollision;
|
||||
}
|
||||
#endif
|
||||
|
||||
delete m_collisionConfiguration;
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
renderme();
|
||||
|
||||
glFlush();
|
||||
glutSwapBuffers();
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
void MultiThreadedDemo::initPhysics()
|
||||
{
|
||||
#ifdef USE_PARALLEL_DISPATCHER
|
||||
m_threadSupportSolver = 0;
|
||||
m_threadSupportCollision = 0;
|
||||
#endif
|
||||
|
||||
//#define USE_GROUND_PLANE 1
|
||||
#ifdef USE_GROUND_PLANE
|
||||
m_collisionShapes.push_back(new btStaticPlaneShape(btVector3(0,1,0),0.5));
|
||||
#else
|
||||
|
||||
///Please don't make the box sizes larger then 1000: the collision detection will be inaccurate.
|
||||
///See http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=346
|
||||
m_collisionShapes.push_back(new btBoxShape (btVector3(200,CUBE_HALF_EXTENTS,200)));
|
||||
#endif
|
||||
|
||||
m_collisionShapes.push_back(new btBoxShape (btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)));
|
||||
|
||||
|
||||
|
||||
setCameraDistance(32.5f);
|
||||
|
||||
m_azi = 90.f;
|
||||
|
||||
m_dispatcher=0;
|
||||
m_collisionConfiguration = new btDefaultCollisionConfiguration();
|
||||
|
||||
#ifdef USE_PARALLEL_DISPATCHER
|
||||
int maxNumOutstandingTasks = 4;
|
||||
|
||||
#ifdef USE_WIN32_THREADING
|
||||
|
||||
m_threadSupportCollision = new Win32ThreadSupport(Win32ThreadSupport::Win32ThreadConstructionInfo(
|
||||
"collision",
|
||||
processCollisionTask,
|
||||
createCollisionLocalStoreMemory,
|
||||
maxNumOutstandingTasks));
|
||||
#else
|
||||
|
||||
#ifdef USE_LIBSPE2
|
||||
|
||||
spe_program_handle_t * program_handle;
|
||||
#ifndef USE_CESOF
|
||||
program_handle = spe_image_open ("./spuCollision.elf");
|
||||
if (program_handle == NULL)
|
||||
{
|
||||
perror( "SPU OPEN IMAGE ERROR\n");
|
||||
}
|
||||
else
|
||||
{
|
||||
printf( "IMAGE OPENED\n");
|
||||
}
|
||||
#else
|
||||
extern spe_program_handle_t spu_program;
|
||||
program_handle = &spu_program;
|
||||
#endif
|
||||
SpuLibspe2Support* threadSupportCollision = new SpuLibspe2Support( program_handle, maxNumOutstandingTasks);
|
||||
#elif defined (USE_PTHREADS)
|
||||
PosixThreadSupport::ThreadConstructionInfo constructionInfo("collision",
|
||||
processCollisionTask,
|
||||
createCollisionLocalStoreMemory,
|
||||
maxNumOutstandingTasks);
|
||||
m_threadSupportCollision = new PosixThreadSupport(constructionInfo);
|
||||
#else
|
||||
|
||||
SequentialThreadSupport::SequentialThreadConstructionInfo colCI("collision",processCollisionTask,createCollisionLocalStoreMemory);
|
||||
SequentialThreadSupport* m_threadSupportCollision = new SequentialThreadSupport(colCI);
|
||||
|
||||
#endif //USE_LIBSPE2
|
||||
|
||||
///Playstation 3 SPU (SPURS) version is available through PS3 Devnet
|
||||
/// For Unix/Mac someone could implement a pthreads version of btThreadSupportInterface?
|
||||
///you can hook it up to your custom task scheduler by deriving from btThreadSupportInterface
|
||||
#endif
|
||||
|
||||
|
||||
m_dispatcher = new SpuGatheringCollisionDispatcher(m_threadSupportCollision,maxNumOutstandingTasks,m_collisionConfiguration);
|
||||
// m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
|
||||
#else
|
||||
|
||||
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
|
||||
#endif //USE_PARALLEL_DISPATCHER
|
||||
|
||||
|
||||
btVector3 worldAabbMin(-1000,-1000,-1000);
|
||||
btVector3 worldAabbMax(1000,1000,1000);
|
||||
|
||||
m_broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
|
||||
|
||||
|
||||
|
||||
#ifdef USE_PARALLEL_SOLVER
|
||||
|
||||
#ifdef USE_WIN32_THREADING
|
||||
m_threadSupportSolver = new Win32ThreadSupport(Win32ThreadSupport::Win32ThreadConstructionInfo(
|
||||
"solver",
|
||||
processSolverTask,
|
||||
createSolverLocalStoreMemory,
|
||||
maxNumOutstandingTasks));
|
||||
#elif defined (USE_PTHREADS)
|
||||
PosixThreadSupport::ThreadConstructionInfo solverConstructionInfo("solver", processSolverTask,
|
||||
createSolverLocalStoreMemory, maxNumOutstandingTasks);
|
||||
|
||||
m_threadSupportSolver = new PosixThreadSupport(solverConstructionInfo);
|
||||
#else
|
||||
//for now use sequential version
|
||||
SequentialThreadSupport::SequentialThreadConstructionInfo solverCI("solver",processSolverTask,createSolverLocalStoreMemory);
|
||||
m_threadSupportSolver = new SequentialThreadSupport(solverCI);
|
||||
|
||||
#endif //USE_WIN32_THREADING
|
||||
m_solver = new btParallelSequentialImpulseSolver(m_threadSupportSolver,maxNumOutstandingTasks);
|
||||
|
||||
#else
|
||||
|
||||
btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver();
|
||||
|
||||
m_solver = solver;
|
||||
//default solverMode is SOLVER_RANDMIZE_ORDER. Warmstarting seems not to improve convergence, see
|
||||
//solver->setSolverMode(0);//btSequentialImpulseConstraintSolver::SOLVER_USE_WARMSTARTING | btSequentialImpulseConstraintSolver::SOLVER_RANDMIZE_ORDER);
|
||||
|
||||
#endif //USE_PARALLEL_SOLVER
|
||||
|
||||
btDiscreteDynamicsWorld* world = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
|
||||
m_dynamicsWorld = world;
|
||||
|
||||
world->getSolverInfo().m_numIterations = 4;
|
||||
|
||||
m_dynamicsWorld->getDispatchInfo().m_enableSPU = true;
|
||||
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
|
||||
|
||||
|
||||
|
||||
int i;
|
||||
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
|
||||
|
||||
for (i=0;i<gNumObjects;i++)
|
||||
{
|
||||
if (i>0)
|
||||
{
|
||||
shapeIndex[i] = 1;//sphere
|
||||
}
|
||||
else
|
||||
shapeIndex[i] = 0;
|
||||
}
|
||||
|
||||
|
||||
btTransform trans;
|
||||
trans.setIdentity();
|
||||
|
||||
btScalar halfExtents = CUBE_HALF_EXTENTS;
|
||||
|
||||
trans.setOrigin(btVector3(0,-halfExtents,0));
|
||||
|
||||
|
||||
|
||||
localCreateRigidBody(0.f,trans,m_collisionShapes[shapeIndex[0]]);
|
||||
|
||||
int numWalls = 15;
|
||||
int wallHeight = 15;
|
||||
float wallDistance = 3;
|
||||
|
||||
|
||||
for ( i=0;i<numWalls;i++)
|
||||
{
|
||||
float zPos = (i-numWalls/2) * wallDistance;
|
||||
createStack(m_collisionShapes[shapeIndex[1]],halfExtents,wallHeight,zPos);
|
||||
}
|
||||
#define DESTROYER_BALL 1
|
||||
#ifdef DESTROYER_BALL
|
||||
btTransform sphereTrans;
|
||||
sphereTrans.setIdentity();
|
||||
sphereTrans.setOrigin(btVector3(0,2,40));
|
||||
btSphereShape* ball = new btSphereShape(2.f);
|
||||
m_collisionShapes.push_back(ball);
|
||||
btRigidBody* ballBody = localCreateRigidBody(10000.f,sphereTrans,ball);
|
||||
ballBody->setLinearVelocity(btVector3(0,0,-10));
|
||||
#endif
|
||||
// clientResetScene();
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
void MultiThreadedDemo::exitPhysics()
|
||||
{
|
||||
|
||||
//cleanup in the reverse order of creation/initialization
|
||||
|
||||
//remove the rigidbodies from the dynamics world and delete them
|
||||
int i;
|
||||
for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
|
||||
{
|
||||
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
|
||||
btRigidBody* body = btRigidBody::upcast(obj);
|
||||
if (body && body->getMotionState())
|
||||
{
|
||||
delete body->getMotionState();
|
||||
}
|
||||
m_dynamicsWorld->removeCollisionObject( obj );
|
||||
delete obj;
|
||||
}
|
||||
|
||||
//delete collision shapes
|
||||
for (int j=0;j<m_collisionShapes.size();j++)
|
||||
{
|
||||
btCollisionShape* shape = m_collisionShapes[j];
|
||||
m_collisionShapes[j] = 0;
|
||||
delete shape;
|
||||
}
|
||||
|
||||
//delete dynamics world
|
||||
delete m_dynamicsWorld;
|
||||
|
||||
//delete solver
|
||||
delete m_solver;
|
||||
#ifdef USE_PARALLEL_DISPATCHER
|
||||
if (m_threadSupportSolver)
|
||||
{
|
||||
delete m_threadSupportSolver;
|
||||
}
|
||||
#endif
|
||||
|
||||
//delete broadphase
|
||||
delete m_broadphase;
|
||||
|
||||
//delete dispatcher
|
||||
delete m_dispatcher;
|
||||
|
||||
#ifdef USE_PARALLEL_DISPATCHER
|
||||
if (m_threadSupportCollision)
|
||||
{
|
||||
delete m_threadSupportCollision;
|
||||
}
|
||||
#endif
|
||||
|
||||
delete m_collisionConfiguration;
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user