Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure
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
277
ObsoleteDemos/CellSpuDemo/BasicDemo2.cpp
Normal file
277
ObsoleteDemos/CellSpuDemo/BasicDemo2.cpp
Normal file
@@ -0,0 +1,277 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
|
||||
//#define USE_GROUND_BOX 1
|
||||
#define PRINT_CONTACT_STATISTICS 1
|
||||
#define USE_PARALLEL_DISPATCHER 1
|
||||
|
||||
|
||||
//#define USE_SIMPLE_DYNAMICS_WORLD 1
|
||||
|
||||
int gNumObjects = 5;
|
||||
#define HALF_EXTENTS btScalar(1.)
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h"
|
||||
#include "LinearMath/btIDebugDraw.h"
|
||||
#include <stdio.h> //printf debugging
|
||||
btScalar deltaTime = btScalar(1./60.);
|
||||
btScalar gCollisionMargin = btScalar(0.05);
|
||||
#include "BasicDemo2.h"
|
||||
|
||||
#ifdef USE_PARALLEL_DISPATCHER
|
||||
#include "BulletMultiThreaded/SpuGatheringCollisionDispatcher.h"
|
||||
#include "BulletMultiThreaded/Win32ThreadSupport.h"
|
||||
#include "BulletMultiThreaded/SpuLibspe2Support.h"
|
||||
#include "BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h"
|
||||
#endif//USE_PARALLEL_DISPATCHER
|
||||
|
||||
|
||||
#include <LinearMath/btAlignedObjectArray.h>
|
||||
|
||||
////////////////////////////////////
|
||||
|
||||
|
||||
|
||||
|
||||
int main(int argc,char** argv)
|
||||
{
|
||||
|
||||
BasicDemo ccdDemo;
|
||||
ccdDemo.initPhysics();
|
||||
|
||||
int i;
|
||||
for (i=0;i<5;i++)
|
||||
ccdDemo.clientMoveAndDisplay();
|
||||
ccdDemo.exitPhysics();
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
|
||||
extern int gNumManifold;
|
||||
|
||||
void BasicDemo::clientMoveAndDisplay()
|
||||
{
|
||||
|
||||
//simple dynamics world doesn't handle fixed-time-stepping
|
||||
float ms = m_clock.getTimeMicroseconds();
|
||||
m_clock.reset();
|
||||
float minFPS = 1000000.f/60.f;
|
||||
if (ms > minFPS)
|
||||
ms = minFPS;
|
||||
|
||||
if (m_dynamicsWorld)
|
||||
m_dynamicsWorld->stepSimulation(ms / 1000000.f);
|
||||
|
||||
//some additional debugging info
|
||||
#ifdef PRINT_CONTACT_STATISTICS
|
||||
printf("num contact manifolds: %i\n",gNumManifold);
|
||||
int numManifolds = m_dynamicsWorld->getDispatcher()->getNumManifolds();
|
||||
for (int i=0;i<numManifolds;i++)
|
||||
{
|
||||
btPersistentManifold* contactManifold = m_dynamicsWorld->getDispatcher()->getManifoldByIndexInternal(i);
|
||||
btCollisionObject* obA = static_cast<btCollisionObject*>(contactManifold->getBody0());
|
||||
btCollisionObject* obB = static_cast<btCollisionObject*>(contactManifold->getBody1());
|
||||
|
||||
int numContacts = contactManifold->getNumContacts();
|
||||
for (int j=0;j<numContacts;j++)
|
||||
{
|
||||
btManifoldPoint& pt = contactManifold->getContactPoint(j);
|
||||
btVector3 ptA = pt.getPositionWorldOnA();
|
||||
btVector3 ptB = pt.getPositionWorldOnB();
|
||||
printf("contact manifold[%d],pointA[%d]=(%f,%f,%f)\n",i,j,ptA[0],ptA[1],ptA[2]);
|
||||
}
|
||||
}
|
||||
#endif //PRINT_CONTACT_STATISTICS
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
void BasicDemo::initPhysics()
|
||||
{
|
||||
|
||||
btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
|
||||
|
||||
#ifdef USE_PARALLEL_DISPATCHER
|
||||
|
||||
int maxNumOutstandingTasks = 1;//number of maximum outstanding tasks
|
||||
#ifdef USE_WIN32_THREADING
|
||||
|
||||
Win32ThreadSupport* threadSupport = new Win32ThreadSupport(Win32ThreadSupport::Win32ThreadConstructionInfo(
|
||||
"collision",
|
||||
processCollisionTask,
|
||||
createCollisionLocalStoreMemory,
|
||||
maxNumOutstandingTasks));
|
||||
#else
|
||||
|
||||
spe_program_handle_t * program_handle;
|
||||
#ifndef USE_CESOF
|
||||
char* spuFileName = "../../../src/BulletMultiThreaded/out/spuCollision.elf";
|
||||
|
||||
program_handle = spe_image_open (spuFileName);
|
||||
if (program_handle == NULL)
|
||||
{
|
||||
printf( "SPU OPEN IMAGE ERROR:%s\n",spuFileName);
|
||||
exit(0);
|
||||
}
|
||||
else
|
||||
{
|
||||
printf( "IMAGE OPENED:%s\n",spuFileName);
|
||||
}
|
||||
#else
|
||||
extern spe_program_handle_t spu_program;
|
||||
program_handle = &spu_program;
|
||||
#endif
|
||||
SpuLibspe2Support* threadSupport = new SpuLibspe2Support( program_handle, maxNumOutstandingTasks);
|
||||
|
||||
#endif // WIN32
|
||||
|
||||
|
||||
m_dispatcher = new SpuGatheringCollisionDispatcher(threadSupport,maxNumOutstandingTasks,collisionConfiguration);
|
||||
#else
|
||||
m_dispatcher = new btCollisionDispatcher(collisionConfiguration);
|
||||
#endif //USE_PARALLEL_DISPATCHER
|
||||
m_collisionConfiguration = new btDefaultCollisionConfiguration();
|
||||
|
||||
|
||||
#define USE_SWEEP_AND_PRUNE 1
|
||||
#ifdef USE_SWEEP_AND_PRUNE
|
||||
#define maxProxies 8192
|
||||
btVector3 worldAabbMin(-10000,-10000,-10000);
|
||||
btVector3 worldAabbMax(10000,10000,10000);
|
||||
m_overlappingPairCache = new btAxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
|
||||
//m_overlappingPairCache = new btMultiSapBroadphase();
|
||||
|
||||
|
||||
#else
|
||||
m_overlappingPairCache = new btSimpleBroadphase;
|
||||
#endif //USE_SWEEP_AND_PRUNE
|
||||
|
||||
|
||||
|
||||
btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
|
||||
m_solver = sol;
|
||||
|
||||
|
||||
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_solver,m_collisionConfiguration);
|
||||
m_dynamicsWorld->getDispatchInfo().m_enableSPU = true;
|
||||
|
||||
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
|
||||
|
||||
|
||||
///create a few basic rigid bodies
|
||||
|
||||
|
||||
//static ground
|
||||
#ifdef USE_GROUND_BOX
|
||||
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
|
||||
#else
|
||||
btCollisionShape* groundShape = new btSphereShape(btScalar(50.));
|
||||
#endif//USE_GROUND_BOX
|
||||
|
||||
m_collisionShapes.push_back(groundShape);
|
||||
|
||||
btTransform groundTransform;
|
||||
groundTransform.setIdentity();
|
||||
groundTransform.setOrigin(btVector3(0,-50,0));
|
||||
localCreateRigidBody(btScalar(0.),groundTransform,groundShape);
|
||||
|
||||
//create a few dynamic sphere rigidbodies (re-using the same sphere shape)
|
||||
//btCollisionShape* sphereShape = new btBoxShape(btVector3(1,1,1));
|
||||
btCollisionShape* sphereShape = new btSphereShape(btScalar(1.));
|
||||
m_collisionShapes.push_back(sphereShape);
|
||||
|
||||
int i;
|
||||
for (i=0;i<gNumObjects;i++)
|
||||
{
|
||||
|
||||
sphereShape->setMargin(gCollisionMargin);
|
||||
btTransform trans;
|
||||
trans.setIdentity();
|
||||
//stack them
|
||||
int colsize = 2;
|
||||
int row = (int)((i*HALF_EXTENTS*2)/(colsize*2*HALF_EXTENTS));
|
||||
int row2 = row;
|
||||
int col = (i)%(colsize)-colsize/2;
|
||||
btVector3 pos(col*2*HALF_EXTENTS + (row2%2)*HALF_EXTENTS,
|
||||
row*2*HALF_EXTENTS+HALF_EXTENTS,0);
|
||||
|
||||
trans.setOrigin(pos);
|
||||
//btRigidBody* body = localCreateRigidBody(btScalar(1.),trans,sphereShape);
|
||||
localCreateRigidBody(btScalar(1.),trans,sphereShape);
|
||||
}
|
||||
|
||||
//clientResetScene();
|
||||
}
|
||||
|
||||
btRigidBody* BasicDemo::localCreateRigidBody(btScalar mass,const btTransform& startTrans,btCollisionShape* colShape)
|
||||
{
|
||||
btVector3 inertia(0,0,0);
|
||||
if (mass)
|
||||
colShape->calculateLocalInertia(mass,inertia);
|
||||
btRigidBody::btRigidBodyConstructionInfo rbci(mass,0,colShape,inertia);
|
||||
rbci.m_startWorldTransform = startTrans;
|
||||
|
||||
btRigidBody* body = new btRigidBody(rbci);
|
||||
m_dynamicsWorld->addRigidBody(body);
|
||||
return body;
|
||||
|
||||
}
|
||||
void BasicDemo::exitPhysics()
|
||||
{
|
||||
|
||||
|
||||
//cleanup in the reverse order of creation/initialization
|
||||
|
||||
//remove the rigidbodies from the dynamics world and delete them
|
||||
int i;
|
||||
for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
|
||||
{
|
||||
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
|
||||
m_dynamicsWorld->removeCollisionObject( obj );
|
||||
delete obj;
|
||||
}
|
||||
|
||||
//delete collision shapes
|
||||
for (int j=0;j<m_collisionShapes.size();j++)
|
||||
{
|
||||
btCollisionShape* shape = m_collisionShapes[j];
|
||||
delete shape;
|
||||
}
|
||||
|
||||
//delete dynamics world
|
||||
delete m_dynamicsWorld;
|
||||
|
||||
//delete solver
|
||||
delete m_solver;
|
||||
|
||||
//delete broadphase
|
||||
delete m_overlappingPairCache;
|
||||
|
||||
//delete dispatcher
|
||||
delete m_dispatcher;
|
||||
|
||||
delete m_collisionConfiguration;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
62
ObsoleteDemos/CellSpuDemo/BasicDemo2.h
Normal file
62
ObsoleteDemos/CellSpuDemo/BasicDemo2.h
Normal file
@@ -0,0 +1,62 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
#ifndef BASIC_DEMO_H
|
||||
#define BASIC_DEMO_H
|
||||
|
||||
#include "LinearMath/btQuickprof.h"
|
||||
|
||||
class btDiscreteDynamicsworld;
|
||||
class btCollisionShape;
|
||||
class btOverlappingPairCache;
|
||||
class btCollisionDispatcher;
|
||||
class btConstraintSolver;
|
||||
struct btCollisionAlgorithmCreateFunc;
|
||||
|
||||
///BasicDemo is good starting point for learning the code base and porting.
|
||||
class BasicDemo
|
||||
{
|
||||
btClock m_clock;
|
||||
|
||||
//keep the collision shapes, for deletion/cleanup
|
||||
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
|
||||
|
||||
btBroadphaseInterface* m_overlappingPairCache;
|
||||
|
||||
btCollisionDispatcher* m_dispatcher;
|
||||
btDefaultCollisionConfiguration* m_collisionConfiguration;
|
||||
btConstraintSolver* m_solver;
|
||||
btDiscreteDynamicsWorld* m_dynamicsWorld;
|
||||
|
||||
btCollisionAlgorithmCreateFunc* m_sphereSphereCF;
|
||||
btCollisionAlgorithmCreateFunc* m_sphereBoxCF;
|
||||
btCollisionAlgorithmCreateFunc* m_boxSphereCF;
|
||||
|
||||
btRigidBody* localCreateRigidBody(btScalar mass,const btTransform& startTrans,btCollisionShape* colShape);
|
||||
|
||||
|
||||
public:
|
||||
|
||||
void initPhysics();
|
||||
|
||||
void exitPhysics();
|
||||
|
||||
virtual void clientMoveAndDisplay();
|
||||
|
||||
|
||||
|
||||
};
|
||||
|
||||
#endif //BASIC_DEMO_H
|
||||
|
||||
Reference in New Issue
Block a user