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improved performance, and allowed custom friction and contact solver models. See CcdPhysicsDemo #define USER_DEFINED_FRICTION_MODEL

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This commit is contained in:
ejcoumans
2006-09-20 00:49:33 +00:00
parent dad2cb634e
commit 5ed0cf5b7f
15 changed files with 211 additions and 56 deletions
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80
Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
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@@ -13,8 +13,10 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
//#define USE_PARALLEL_DISPATCHER 1
//#define USER_DEFINED_FRICTION_MODEL 1
//#define PRINT_CONTACT_STATISTICS 1
#define REGISTER_CUSTOM_COLLISION_ALGORITHM 1
#include "CcdPhysicsEnvironment.h"
#include "ParallelPhysicsEnvironment.h"
@@ -33,7 +35,7 @@ subject to the following restrictions:
#include "CollisionShapes/TriangleIndexVertexArray.h"
#include "CollisionShapes/BvhTriangleMeshShape.h"
#include "CollisionShapes/TriangleMesh.h"
#include "ConstraintSolver/SequentialImpulseConstraintSolver.h"
#include "Dynamics/RigidBody.h"
#include "CollisionDispatch/CollisionDispatcher.h"
@@ -76,9 +78,9 @@ bool useCompound = false;//true;//false;
#ifdef _DEBUG
const int numObjects = 120;
const int gNumObjects = 120;
#else
const int numObjects = 120;//try this in release mode: 3000. never go above 4095, unless you increate maxNumObjects value in DemoApplication.cp
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;
@@ -147,6 +149,10 @@ int main(int argc,char** argv)
extern int gNumManifold;
extern int gOverlappingPairs;
extern int gTotalContactPoints;
void CcdPhysicsDemo::clientMoveAndDisplay()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
@@ -166,6 +172,14 @@ void CcdPhysicsDemo::clientMoveAndDisplay()
Profiler::endBlock("render");
#endif
glFlush();
//some additional debugging info
#ifdef PRINT_CONTACT_STATISTICS
printf("num manifolds: %i\n",gNumManifold);
printf("num gOverlappingPairs: %i\n",gOverlappingPairs);
printf("num gTotalContactPoints : %i\n",gTotalContactPoints );
#endif //PRINT_CONTACT_STATISTICS
gTotalContactPoints = 0;
glutSwapBuffers();
}
@@ -185,7 +199,6 @@ void CcdPhysicsDemo::displayCallback(void) {
renderme();
glFlush();
glutSwapBuffers();
}
@@ -245,6 +258,13 @@ void CcdPhysicsDemo::clientResetScene()
}
///User-defined friction model, the most simple friction model available: no friction
float myFrictionModel( RigidBody& body1, RigidBody& body2, ManifoldPoint& contactPoint, const ContactSolverInfo& solverInfo )
{
//don't do any friction
return 0.f;
}
void CcdPhysicsDemo::initPhysics()
{
@@ -254,11 +274,13 @@ void CcdPhysicsDemo::initPhysics()
SimdVector3 worldAabbMin(-10000,-10000,-10000);
SimdVector3 worldAabbMax(10000,10000,10000);
OverlappingPairCache* broadphase = new AxisSweep3(worldAabbMin,worldAabbMax,maxProxies,maxOverlap);
OverlappingPairCache* broadphase = new AxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
// OverlappingPairCache* broadphase = new SimpleBroadphase;
#ifdef REGISTER_CUSTOM_COLLISION_ALGORITHM
dispatcher->RegisterCollisionCreateFunc(SPHERE_SHAPE_PROXYTYPE,SPHERE_SHAPE_PROXYTYPE,new SphereSphereCollisionAlgorithm::CreateFunc);
#endif //REGISTER_CUSTOM_COLLISION_ALGORITHM
#ifdef USE_PARALLEL_DISPATCHER
m_physicsEnvironmentPtr = new ParallelPhysicsEnvironment(dispatcher2,broadphase);
@@ -271,13 +293,23 @@ void CcdPhysicsDemo::initPhysics()
m_physicsEnvironmentPtr->setDebugDrawer(&debugDrawer);
#ifdef USER_DEFINED_FRICTION_MODEL
SequentialImpulseConstraintSolver* solver = (SequentialImpulseConstraintSolver*) m_physicsEnvironmentPtr->GetConstraintSolver();
//solver->SetContactSolverFunc(ContactSolverFunc func,USER_CONTACT_SOLVER_TYPE1,DEFAULT_CONTACT_SOLVER_TYPE);
solver->SetFrictionSolverFunc(myFrictionModel,USER_CONTACT_SOLVER_TYPE1,DEFAULT_CONTACT_SOLVER_TYPE);
solver->SetFrictionSolverFunc(myFrictionModel,DEFAULT_CONTACT_SOLVER_TYPE,USER_CONTACT_SOLVER_TYPE1);
solver->SetFrictionSolverFunc(myFrictionModel,USER_CONTACT_SOLVER_TYPE1,USER_CONTACT_SOLVER_TYPE1);
//m_physicsEnvironmentPtr->setNumIterations(2);
#endif //USER_DEFINED_FRICTION_MODEL
int i;
SimdTransform tr;
tr.setIdentity();
for (i=0;i<numObjects;i++)
for (i=0;i<gNumObjects;i++)
{
if (i>0)
{
@@ -301,7 +333,7 @@ void CcdPhysicsDemo::initPhysics()
compoundShape->AddChildShape(ident,new SphereShape(0.9));//
}
for (i=0;i<numObjects;i++)
for (i=0;i<gNumObjects;i++)
{
CollisionShape* shape = shapePtr[shapeIndex[i]];
shape->SetMargin(0.05f);
@@ -311,7 +343,30 @@ void CcdPhysicsDemo::initPhysics()
SimdTransform trans;
trans.setIdentity();
trans.setOrigin(SimdVector3(0,-30+i*CUBE_HALF_EXTENTS*2,0));
if (i>0)
{
//stack them
int colsize = 10;
int row = (i*CUBE_HALF_EXTENTS*2)/(colsize*2*CUBE_HALF_EXTENTS);
int row2 = row;
int col = (i)%(colsize)-colsize/2;
if (col>3)
{
col=11;
row2 |=1;
}
SimdVector3 pos(col*2*CUBE_HALF_EXTENTS + (row2%2)*CUBE_HALF_EXTENTS,
row*2*CUBE_HALF_EXTENTS+CUBE_HALF_EXTENTS+EXTRA_HEIGHT,0);
trans.setOrigin(pos);
} else
{
trans.setOrigin(SimdVector3(0,-30,0));
}
float mass = 1.f;
if (!isDyna)
@@ -324,7 +379,10 @@ void CcdPhysicsDemo::initPhysics()
//Experimental: better estimation of CCD Time of Impact:
ctrl->GetRigidBody()->m_ccdSweptShereRadius = 0.2*CUBE_HALF_EXTENTS;
#ifdef USER_DEFINED_FRICTION_MODEL
///Advanced use: override the friction solver
ctrl->GetRigidBody()->m_frictionSolverType = USER_CONTACT_SOLVER_TYPE1;
#endif //USER_DEFINED_FRICTION_MODEL
}