From 4b98cadd4c6867b1d014566c0de0897529f347d7 Mon Sep 17 00:00:00 2001
From: "erwin.coumans" <erwin.coumans@08e121b0-ae19-0410-a57b-3be3395fd4fd>
Date: Fri, 13 Feb 2009 02:42:39 +0000
Subject: [PATCH] revert some testing code in BasicDemo

---
 Demos/BasicDemo/BasicDemo.cpp | 98 ++++-------------------------------
 Demos/BasicDemo/BasicDemo.h   |  2 -
 2 files changed, 11 insertions(+), 89 deletions(-)

diff --git a/Demos/BasicDemo/BasicDemo.cpp b/Demos/BasicDemo/BasicDemo.cpp
index e39294407..f6ba2d416 100644
--- a/Demos/BasicDemo/BasicDemo.cpp
+++ b/Demos/BasicDemo/BasicDemo.cpp
@@ -13,27 +13,17 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#define LARGE_DEMO 0
-
-#if LARGE_DEMO
-	///create 512 (8x8x8) dynamic object
-	#define ARRAY_SIZE_X 8
-	#define ARRAY_SIZE_Y 8
-	#define ARRAY_SIZE_Z 8
-#else
-	///create 125 (5x5x5) dynamic object
-	#define ARRAY_SIZE_X 5
-	#define ARRAY_SIZE_Y 5
-	#define ARRAY_SIZE_Z 5
-#endif
 
+///create 125 (5x5x5) dynamic object
+#define ARRAY_SIZE_X 5
+#define ARRAY_SIZE_Y 5
+#define ARRAY_SIZE_Z 5
 
 //maximum number of objects (and allow user to shoot additional boxes)
 #define MAX_PROXIES (ARRAY_SIZE_X*ARRAY_SIZE_Y*ARRAY_SIZE_Z + 1024)
 
 ///scaling of the objects (0.1 = 20 centimeter boxes )
-//#define SCALING 0.1
-#define SCALING 1
+#define SCALING 0.1
 #define START_POS_X -5
 #define START_POS_Y -5
 #define START_POS_Z -3
@@ -44,9 +34,6 @@ subject to the following restrictions:
 #include "btBulletDynamicsCommon.h"
 #include <stdio.h> //printf debugging
 
-#include "BulletDynamics/ConstraintSolver/btParallelBatchConstraintSolver.h"
-#include "BulletDynamics/ConstraintSolver/btParallelBatchConstraintSolver2.h"
-#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h"
 
 void BasicDemo::clientMoveAndDisplay()
 {
@@ -59,10 +46,6 @@ void BasicDemo::clientMoveAndDisplay()
 	if (m_dynamicsWorld)
 	{
 		m_dynamicsWorld->stepSimulation(ms / 1000000.f);
-		if (m_idle)
-		{
-			CProfileManager::dumpAll();
-		}
 		//optional but useful: debug drawing
 		m_dynamicsWorld->debugDrawWorld();
 	}
@@ -92,10 +75,6 @@ void BasicDemo::displayCallback(void) {
 }
 
 
-static btSequentialImpulseConstraintSolver* sDefSeqImpSolver = 0;
-static btParallelBatchConstraintSolver* sParallelBatchSolver = 0;
-static btParallelBatchConstraintSolver2* sParallelBatchSolver2 = 0;
-
 
 
 
@@ -115,31 +94,22 @@ void	BasicDemo::initPhysics()
 	m_broadphase = new btDbvtBroadphase();
 
 	///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
-	sDefSeqImpSolver = new btSequentialImpulseConstraintSolver;
-	// create parallel batch solver for tests 
-	sParallelBatchSolver = new btParallelBatchConstraintSolver();
-	sParallelBatchSolver2 = new btParallelBatchConstraintSolver2();
-	
-	// start with parallel batch solver
-	m_solver = sParallelBatchSolver;
+	btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
+	m_solver = sol;
 
-	btDiscreteDynamicsWorld* ddw = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
-	m_dynamicsWorld = ddw;
-	ddw->getSimulationIslandManager()->setSplitIslands(false);
+	m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
 
 	m_dynamicsWorld->setGravity(btVector3(0,-10,0));
 
 	///create a few basic rigid bodies
-	btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(30.),btScalar(1.),btScalar(30.)));
-//	btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
+	btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
 //	btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
 	
 	m_collisionShapes.push_back(groundShape);
 
 	btTransform groundTransform;
 	groundTransform.setIdentity();
-	groundTransform.setOrigin(btVector3(0,-5,0));
-//	groundTransform.setOrigin(btVector3(0,-50,0));
+	groundTransform.setOrigin(btVector3(0,-50,0));
 
 	//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
 	{
@@ -245,9 +215,7 @@ void	BasicDemo::exitPhysics()
 
 	delete m_dynamicsWorld;
 	
-	m_solver = 0;
-	delete sDefSeqImpSolver;
-	delete sParallelBatchSolver;
+	delete m_solver;
 	
 	delete m_broadphase;
 	
@@ -260,48 +228,4 @@ void	BasicDemo::exitPhysics()
 
 
 
-void BasicDemo::keyboardCallback(unsigned char key, int x, int y)
-{
-	(void)x;
-	(void)y;
-	switch (key) 
-	{
-		case 'q' : 
-			exitPhysics();
-			break;
-		case 'S' :
-			{
-				btConstraintSolver* curr_solver = m_dynamicsWorld->getConstraintSolver();
-				btDiscreteDynamicsWorld* pDdw = (btDiscreteDynamicsWorld*)m_dynamicsWorld;
-				if(curr_solver == sDefSeqImpSolver)
-				{
-					static bool toggle = true;
-					toggle=!toggle;
-					if (toggle)
-					{
-						pDdw->setConstraintSolver(sParallelBatchSolver);
-						pDdw->getSimulationIslandManager()->setSplitIslands(false);
-						printf("\nUsing ParallelBatch constraint solver\n");
-					} else
-					{
-						pDdw->setConstraintSolver(sParallelBatchSolver2);
-						pDdw->getSimulationIslandManager()->setSplitIslands(false);
-						printf("\nUsing ParallelBatch constraint solver2\n");
-
-					}
-				}
-				else
-				{
-					m_dynamicsWorld->setConstraintSolver(sDefSeqImpSolver);
-					pDdw->getSimulationIslandManager()->setSplitIslands(true);
-					printf("\nUsing default SequentialImpulse constraint solver\n");
-				}
-			}
-			break;
-		default : 
-			break;
-	}
-	DemoApplication::keyboardCallback(key, x, y);
-}
-
 
diff --git a/Demos/BasicDemo/BasicDemo.h b/Demos/BasicDemo/BasicDemo.h
index 25028fa25..06272b2cf 100644
--- a/Demos/BasicDemo/BasicDemo.h
+++ b/Demos/BasicDemo/BasicDemo.h
@@ -57,8 +57,6 @@ class BasicDemo : public DemoApplication
 	virtual void clientMoveAndDisplay();
 
 	virtual void displayCallback();
-
-	virtual void keyboardCallback(unsigned char key, int x, int y);
 	
 	static DemoApplication* Create()
 	{