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Added Benchmark Demo for packed convex shapes.

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This commit is contained in:
stolk
2018-11-02 10:13:08 -07:00
parent 9ed9ef2894
commit 464100168f
3 changed files with 708 additions and 0 deletions
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60
examples/Benchmarks/BenchmarkDemo.cpp
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@@ -22,6 +22,7 @@ subject to the following restrictions:
#include "btBulletDynamicsCommon.h"
#include <stdio.h> //printf debugging
#include "TaruData.h"
#include "HaltonData.h"
#include "landscapeData.h"
#include "BulletCollision/BroadphaseCollision/btDbvtBroadphase.h"
@@ -69,6 +70,7 @@ class BenchmarkDemo : public CommonRigidBodyMTBase
void createTest5();
void createTest6();
void createTest7();
void createTest8();
void createWall(const btVector3& offsetPosition, int stackSize, const btVector3& boxSize);
void createPyramid(const btVector3& offsetPosition, int stackSize, const btVector3& boxSize);
@@ -473,6 +475,11 @@ void BenchmarkDemo::initPhysics()
createTest7();
break;
}
case 8:
{
createTest8();
break;
}
default:
{
@@ -1284,6 +1291,59 @@ void BenchmarkDemo::createTest7()
initRays();
}
void BenchmarkDemo::createTest8()
{
float dist = 8;
float pitch = -15;
float yaw = 20;
float targetPos[3] = {0, 1, 0};
m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
// Create a shape and rigid body for each Voronoi cell.
const float fallHeight = 3.5f;
for (int i=0; i<halton_numc; ++i)
{
btConvexHullShape* shp = new btConvexHullShape();
const float* verts = halton_verts[i];
const float* origin = halton_pos[i];
for (int v=0; v<halton_numv[i]; ++v)
{
btVector3 vtx(verts[0],verts[1],verts[2]);
shp->addPoint(vtx);
verts += 3;
}
shp->initializePolyhedralFeatures();
shp->setMargin(0.04f);
btTransform transform;
transform.setIdentity();
transform.setOrigin(btVector3(origin[0],origin[1]+fallHeight,origin[2]));
const float mass = halton_volu[i];
btVector3 inertia(0,0,0);
shp->calculateLocalInertia(mass, inertia);
btRigidBody::btRigidBodyConstructionInfo ci(mass, 0, shp, inertia);
ci.m_startWorldTransform = transform;
btRigidBody* body = new btRigidBody(ci);
body->setFriction(0.6f);
m_dynamicsWorld->addRigidBody(body);
}
btContactSolverInfo& si = m_dynamicsWorld->getSolverInfo();
si.m_numIterations = 20;
si.m_erp = 0.8f;
si.m_erp2 = si.m_erp / 2;
si.m_globalCfm = 0.015f;
// Create a ground plane
btCollisionShape* groundplane = new btStaticPlaneShape(btVector3(0,1,0),0);
groundplane->setMargin(0.04f);
btRigidBody::btRigidBodyConstructionInfo rc(0.0f, 0, groundplane, btVector3(0,0,0));
btRigidBody* groundbody = new btRigidBody(rc);
m_dynamicsWorld->addRigidBody(groundbody);
#if 0
// Use SAT for slower, but better contact generation.
btDispatcherInfo& di = m_dynamicsWorld->getDispatchInfo();
di.m_enableSatConvex = true;
#endif
}
void BenchmarkDemo::exitPhysics()
{
int i;