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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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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();
}
}