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more compounds work, the basics work. now some stackless tree-tree traversal is needed to speedup compound versus compound.

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This commit is contained in:
ejcoumans
2006-07-24 23:06:59 +00:00
parent fdaa3a7abc
commit 50a2694c5b
12 changed files with 92 additions and 24 deletions
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34
Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
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@@ -54,7 +54,7 @@ subject to the following restrictions:
float deltaTime = 1.f/60.f;
float bulletSpeed = 40.f;
bool createConstraint = true;
#ifdef WIN32
#if _MSC_VER >= 1310
//only use SIMD Hull code under Win32
@@ -89,6 +89,9 @@ extern int glutScreenHeight;
const int maxProxies = 32766;
const int maxOverlap = 65535;
bool createConstraint = true;//false;
bool useCompound = true;//false;
#ifdef _DEBUG
const int numObjects = 20;
@@ -124,7 +127,7 @@ CollisionShape* shapePtr[numShapes] =
#ifdef USE_GROUND_PLANE
new StaticPlaneShape(SimdVector3(0,1,0),10),
#else
new BoxShape (SimdVector3(450,10,450)),
new BoxShape (SimdVector3(50,10,50)),
#endif
new BoxShape (SimdVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)),
@@ -170,7 +173,7 @@ int main(int argc,char** argv)
#endif
physicsEnvironmentPtr->setDeactivationTime(2.f);
physicsEnvironmentPtr->setGravity(0,-10,0);
physicsEnvironmentPtr->setGravity(0,-10,0);//0,0);//-10,0);
PHY_ShapeProps shapeProps;
shapeProps.m_do_anisotropic = false;
@@ -205,13 +208,19 @@ int main(int argc,char** argv)
shapeIndex[i] = 0;
}
CompoundShape* compoundShape = new CompoundShape();
//shapePtr[1] = compoundShape;
if (useCompound)
{
CompoundShape* compoundShape = new CompoundShape();
CollisionShape* oldShape = shapePtr[1];
shapePtr[1] = compoundShape;
SimdTransform ident;
ident.setIdentity();
compoundShape->AddChildShape(ident,new BoxShape (SimdVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)));
SimdTransform ident;
ident.setIdentity();
ident.setOrigin(SimdVector3(0,0,0));
compoundShape->AddChildShape(ident,oldShape);//
ident.setOrigin(SimdVector3(0,0,2));
compoundShape->AddChildShape(ident,new SphereShape(0.9));//
}
for (i=0;i<numObjects;i++)
{
@@ -509,11 +518,13 @@ void renderme()
ident.setIdentity();
ident.getOpenGLMatrix(vec);
glPushMatrix();
glLoadMatrixf(vec);
glLoadMatrixf(vec);
GL_ShapeDrawer::DrawOpenGL(m,physObjects[i]->GetRigidBody()->GetCollisionShape(),wireColor,getDebugMode());
glPopMatrix();
///this block is just experimental code to show some internal issues with replacing shapes on the fly.
if (getDebugMode()!=0 && (i>0))
{
@@ -668,6 +679,9 @@ void clientDisplay(void) {
physicsEnvironmentPtr->UpdateAabbs(deltaTime);
//draw contactpoints
physicsEnvironmentPtr->CallbackTriggers();
renderme();