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Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure

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Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos
Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode)
Don't crash in btCollisionWorld, if there is no collision dispatcher
This commit is contained in:
erwin coumans
2013-12-19 12:40:59 -08:00
parent 222ecb156d
commit 69e5454d18
320 changed files with 189807 additions and 105 deletions
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43
Demos3/BasicGpuDemo/BasicGpuDemo.cpp
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@@ -15,9 +15,9 @@ subject to the following restrictions:
///create 125 (5x5x5) dynamic object
#define ARRAY_SIZE_X 25
#define ARRAY_SIZE_X 20
#define ARRAY_SIZE_Y 20
#define ARRAY_SIZE_Z 25
#define ARRAY_SIZE_Z 20
//maximum number of objects (and allow user to shoot additional boxes)
#define MAX_PROXIES (ARRAY_SIZE_X*ARRAY_SIZE_Y*ARRAY_SIZE_Z + 1024)
@@ -182,8 +182,11 @@ BasicGpuDemo::~BasicGpuDemo()
}
extern bool gUseLargeBatches;
void BasicGpuDemo::initPhysics()
{
gUseLargeBatches = true;//for testing, this option is faster on NVIDIA GPUs
//use the Bullet 2.x btQuickprof for profiling of Bullet 3.x
b3SetCustomEnterProfileZoneFunc(CProfileManager::Start_Profile);
b3SetCustomLeaveProfileZoneFunc(CProfileManager::Stop_Profile);
@@ -228,7 +231,13 @@ void BasicGpuDemo::initPhysics()
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
///create a few basic rigid bodies
createObjects();
}
void BasicGpuDemo::createObjects()
{
///create a few basic rigid bodies
btBoxShape* groundShape = new btBoxShape(btVector3(btScalar(150.),btScalar(50.),btScalar(150.)));
//groundShape->initializePolyhedralFeatures();
// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
@@ -346,8 +355,36 @@ void BasicGpuDemo::initPhysics()
}
void BasicGpuDemo::clientResetScene()
{
/*
exitPhysics();
initPhysics();
*/
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 );//reset will take care of this
delete obj;
}
//delete collision shapes
for (int j=0;j<m_collisionShapes.size();j++)
{
btCollisionShape* shape = m_collisionShapes[j];
delete shape;
}
m_collisionShapes.clear();
((b3GpuDynamicsWorld*)m_dynamicsWorld)->reset();
createObjects();
}

2
Demos3/BasicGpuDemo/BasicGpuDemo.h
View File

@@ -68,6 +68,8 @@ class BasicGpuDemo : public PlatformDemoApplication
void exitPhysics();
void createObjects();
virtual void clientMoveAndDisplay();
virtual void displayCallback();

26
Demos3/BasicGpuDemo/CMakeLists.txt
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@@ -12,7 +12,8 @@ SET(GLUT_ROOT ${BULLET_PHYSICS_SOURCE_DIR}/Glut)
########################################################
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
${BULLET_PHYSICS_SOURCE_DIR}/src
${BULLET_PHYSICS_SOURCE_DIR}/ObsoleteDemos/OpenGL
)
@@ -27,7 +28,7 @@ ADD_EXECUTABLE(AppBasicDemo
main.cpp
BasicDemo.cpp
BasicDemo.h
${BULLET_PHYSICS_SOURCE_DIR}/build/bullet.rc
${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
)
ELSE()
ADD_EXECUTABLE(AppBasicDemo
@@ -40,25 +41,6 @@ ENDIF()
IF (WIN32)
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
IF (CMAKE_CL_64)
ADD_CUSTOM_COMMAND(
TARGET AppBasicDemo
POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR}
)
ELSE(CMAKE_CL_64)
ADD_CUSTOM_COMMAND(
TARGET AppBasicDemo
POST_BUILD
# COMMAND copy /Y ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}
)
ENDIF(CMAKE_CL_64)
ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
ENDIF(WIN32)
ELSE (USE_GLUT)
@@ -74,7 +56,7 @@ ELSE (USE_GLUT)
Win32BasicDemo.cpp
BasicDemo.cpp
BasicDemo.h
${BULLET_PHYSICS_SOURCE_DIR}/build/bullet.rc
${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
)

68
Demos3/BasicGpuDemo/b3GpuDynamicsWorld.cpp
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@@ -13,6 +13,7 @@
#include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h"
#include "LinearMath/btQuickprof.h"
//#include "Bullet3Common/b3Logging.h"
#include "Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.h"
#include "Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.h"
#include "Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.h"
@@ -20,7 +21,6 @@
#include "Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.h"
#include "Bullet3Collision/NarrowPhaseCollision/b3RigidBodyCL.h"
#include "Bullet3Common/b3Logging.h"
#ifdef _WIN32
@@ -28,9 +28,9 @@
#endif
#if (BT_BULLET_VERSION >= 282)
#define BT_USE_BODY_UPDATE_REVISION
#endif
//#if (BT_BULLET_VERSION >= 282)
//#define BT_USE_BODY_UPDATE_REVISION
//#endif
b3GpuDynamicsWorld::b3GpuDynamicsWorld(class b3GpuSapBroadphase* bp,class b3GpuNarrowPhase* np, class b3GpuRigidBodyPipeline* rigidBodyPipeline)
@@ -54,7 +54,7 @@ b3GpuDynamicsWorld::~b3GpuDynamicsWorld()
}
#include <Windows.h>
int b3GpuDynamicsWorld::stepSimulation( btScalar timeStepUnused, int maxSubStepsUnused, btScalar fixedTimeStep)
{
@@ -62,10 +62,7 @@ int b3GpuDynamicsWorld::stepSimulation( btScalar timeStepUnused, int maxSubStep
///Please use the CPU version in btDiscreteDynamicsWorld if you don't like this
#ifndef BT_NO_PROFILE
CProfileManager::Reset();
#endif //BT_NO_PROFILE
BT_PROFILE("stepSimulation");
@@ -115,13 +112,13 @@ int b3GpuDynamicsWorld::stepSimulation( btScalar timeStepUnused, int maxSubStep
// detect any change (very simple)
{
BT_PROFILE("body update revision detection (CPU)");
B3_PROFILE("body update revision detection (CPU)");
#ifdef BT_USE_BODY_UPDATE_REVISION
b3Assert(m_bodyUpdateRevisions.size() == m_collisionObjects.size());
b3Assert(m_np->getNumRigidBodies() == m_bodyUpdateRevisions.size());
#endif //BT_USE_BODY_UPDATE_REVISION
b3RigidBodyCL* bodiesCL = (b3RigidBodyCL*)m_np->getBodiesCpu();
for (int i=0;i<this->m_collisionObjects.size();i++)
{
if (i>=m_np->getNumRigidBodies())
@@ -233,13 +230,16 @@ int b3GpuDynamicsWorld::stepSimulation( btScalar timeStepUnused, int maxSubStep
}
}
clearForces();
{
B3_PROFILE("clearForces");
clearForces();
}
#ifndef B3_NO_PROFILE
#ifndef BT_NO_PROFILE
CProfileManager::Increment_Frame_Counter();
#endif //B3_NO_PROFILE
// CProfileManager::dumpAll();
#endif //BT_NO_PROFILE
return 1;
}
@@ -491,6 +491,35 @@ void b3GpuDynamicsWorld::removeRigidBody(btRigidBody* colObj)
}
void b3GpuDynamicsWorld::reset()
{
m_staticBody = 0;
if (m_collisionObjects.size())
b3Warning("m_collisionObjects should be empty before calling b3GpuDynamicsWorld::reset");
m_collisionObjects.clear();
if (m_bodyUpdateRevisions.size())
b3Warning("world (m_bodyUpdateRevisions) should be empty before calling b3GpuDynamicsWorld::reset");
m_bodyUpdateRevisions.clear();
if (m_constraints.size())
b3Warning("m_constraints should be empty before calling b3GpuDynamicsWorld::reset");
m_constraints.clear();
m_uniqueShapes.resize(0);
m_uniqueShapeMapping.resize(0);
m_np->reset();
m_bp->reset();
m_rigidBodyPipeline->reset();
#ifdef BT_USE_BODY_UPDATE_REVISION
m_bodyUpdateRevisions.resize(0);
#endif
btConvexHullShape* nullShape = new btConvexHullShape();
m_staticBody = new btRigidBody(0,0,nullShape);
addRigidBody(m_staticBody,0,0);
}
void b3GpuDynamicsWorld::removeCollisionObject(btCollisionObject* colObj)
{
@@ -503,14 +532,7 @@ void b3GpuDynamicsWorld::removeCollisionObject(btCollisionObject* colObj)
}
if (getNumCollisionObjects()==0)
{
m_uniqueShapes.resize(0);
m_uniqueShapeMapping.resize(0);
m_np->reset();
m_bp->reset();
m_rigidBodyPipeline->reset();
#ifdef BT_USE_BODY_UPDATE_REVISION
m_bodyUpdateRevisions.resize(0);
#endif
reset();
}
}

10
Demos3/BasicGpuDemo/b3GpuDynamicsWorld.h
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@@ -12,6 +12,7 @@ class btTypedConstraint;
#include "LinearMath/btAlignedObjectArray.h"
#include "BulletDynamics/Dynamics/btDynamicsWorld.h"
#include "Bullet3Common/b3Logging.h"
class b3GpuDynamicsWorld : public btDynamicsWorld
@@ -30,9 +31,9 @@ class b3GpuDynamicsWorld : public btDynamicsWorld
bool m_cpuGpuSync;
float m_localTime;
class btRigidBody* m_staticBody;//used for picking and Bullet 2.x compatibility. In Bullet 3.x all constraints have explicitly 2 bodies.
int findOrRegisterCollisionShape(const btCollisionShape* colShape);
public:
b3GpuDynamicsWorld(class b3GpuSapBroadphase* bp,class b3GpuNarrowPhase* np, class b3GpuRigidBodyPipeline* rigidBodyPipeline);
@@ -57,7 +58,6 @@ public:
virtual void addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false);
virtual void removeConstraint(btTypedConstraint* constraint);
void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const;
btAlignedObjectArray<class btCollisionObject*>& getCollisionObjectArray();
@@ -75,8 +75,6 @@ public:
addRigidBody(body);
}
virtual void addAction(btActionInterface* action)
{
btAssert(0);
@@ -108,6 +106,8 @@ public:
///this can be useful to synchronize a single rigid body -> graphics object
void synchronizeSingleMotionState(btRigidBody* body);
void reset();
};
#endif //B3_GPU_DYNAMICS_WORLD_H