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
474
ObsoleteDemos/ConcaveDemo/ConcavePhysicsDemo.cpp
Normal file
474
ObsoleteDemos/ConcaveDemo/ConcavePhysicsDemo.cpp
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@@ -0,0 +1,474 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "btBulletDynamicsCommon.h"
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#include "LinearMath/btIDebugDraw.h"
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#include "GLDebugDrawer.h"
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#include "ConcaveDemo.h"
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#include "GL_ShapeDrawer.h"
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#include "GlutStuff.h"
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#define SERIALIZE_TO_DISK 1
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#ifndef SERIALIZE_TO_DISK
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#include "btBulletWorldImporter.h"
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#endif //SERIALIZE_TO_DISK
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//by default, the sample only (de)serializes the BVH to disk.
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//If you enable the SERIALIZE_SHAPE define then it will serialize the entire collision shape
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//then the animation will not play, because it is using the deserialized vertices
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//#define SERIALIZE_SHAPE
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//#define USE_PARALLEL_DISPATCHER 1
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#ifdef USE_PARALLEL_DISPATCHER
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#include "../../Extras/BulletMultiThreaded/SpuGatheringCollisionDispatcher.h"
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#include "../../Extras/BulletMultiThreaded/Win32ThreadSupport.h"
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#include "../../Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h"
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#endif//USE_PARALLEL_DISPATCHER
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static btVector3* gVertices=0;
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static int* gIndices=0;
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static btBvhTriangleMeshShape* trimeshShape =0;
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static btRigidBody* staticBody = 0;
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static float waveheight = 5.f;
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const float TRIANGLE_SIZE=8.f;
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///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback;
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inline btScalar calculateCombinedFriction(float friction0,float friction1)
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{
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btScalar friction = friction0 * friction1;
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const btScalar MAX_FRICTION = 10.f;
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if (friction < -MAX_FRICTION)
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friction = -MAX_FRICTION;
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if (friction > MAX_FRICTION)
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friction = MAX_FRICTION;
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return friction;
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}
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inline btScalar calculateCombinedRestitution(float restitution0,float restitution1)
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{
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return restitution0 * restitution1;
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}
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static bool CustomMaterialCombinerCallback(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1)
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{
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float friction0 = colObj0Wrap->getCollisionObject()->getFriction();
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float friction1 = colObj1Wrap->getCollisionObject()->getFriction();
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float restitution0 = colObj0Wrap->getCollisionObject()->getRestitution();
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float restitution1 = colObj1Wrap->getCollisionObject()->getRestitution();
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if (colObj0Wrap->getCollisionObject()->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)
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{
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friction0 = 1.0;//partId0,index0
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restitution0 = 0.f;
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}
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if (colObj1Wrap->getCollisionObject()->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)
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{
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if (index1&1)
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{
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friction1 = 1.0f;//partId1,index1
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} else
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{
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friction1 = 0.f;
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}
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restitution1 = 0.f;
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}
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cp.m_combinedFriction = calculateCombinedFriction(friction0,friction1);
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cp.m_combinedRestitution = calculateCombinedRestitution(restitution0,restitution1);
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//this return value is currently ignored, but to be on the safe side: return false if you don't calculate friction
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return true;
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}
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extern ContactAddedCallback gContactAddedCallback;
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const int NUM_VERTS_X = 30;
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const int NUM_VERTS_Y = 30;
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const int totalVerts = NUM_VERTS_X*NUM_VERTS_Y;
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void ConcaveDemo::setVertexPositions(float waveheight, float offset)
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{
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int i;
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int j;
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for ( i=0;i<NUM_VERTS_X;i++)
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{
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for (j=0;j<NUM_VERTS_Y;j++)
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{
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gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
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//0.f,
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waveheight*sinf((float)i+offset)*cosf((float)j+offset),
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(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
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}
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}
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}
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void ConcaveDemo::keyboardCallback(unsigned char key, int x, int y)
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{
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if (key == 'g')
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{
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m_animatedMesh = !m_animatedMesh;
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if (m_animatedMesh)
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{
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staticBody->setCollisionFlags( staticBody->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
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staticBody->setActivationState(DISABLE_DEACTIVATION);
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} else
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{
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staticBody->setCollisionFlags( staticBody->getCollisionFlags() & ~btCollisionObject::CF_KINEMATIC_OBJECT);
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staticBody->forceActivationState(ACTIVE_TAG);
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}
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}
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DemoApplication::keyboardCallback(key,x,y);
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}
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void ConcaveDemo::initPhysics()
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{
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setTexturing(true);
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setShadows(false);//true);
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#define TRISIZE 10.f
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gContactAddedCallback = CustomMaterialCombinerCallback;
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#define USE_TRIMESH_SHAPE 1
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#ifdef USE_TRIMESH_SHAPE
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int vertStride = sizeof(btVector3);
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int indexStride = 3*sizeof(int);
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const int totalTriangles = 2*(NUM_VERTS_X-1)*(NUM_VERTS_Y-1);
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gVertices = new btVector3[totalVerts];
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gIndices = new int[totalTriangles*3];
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int i;
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setVertexPositions(waveheight,0.f);
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int index=0;
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for ( i=0;i<NUM_VERTS_X-1;i++)
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{
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for (int j=0;j<NUM_VERTS_Y-1;j++)
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{
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gIndices[index++] = j*NUM_VERTS_X+i;
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gIndices[index++] = j*NUM_VERTS_X+i+1;
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gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
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gIndices[index++] = j*NUM_VERTS_X+i;
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gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
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gIndices[index++] = (j+1)*NUM_VERTS_X+i;
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}
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}
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m_indexVertexArrays = new btTriangleIndexVertexArray(totalTriangles,
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gIndices,
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indexStride,
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totalVerts,(btScalar*) &gVertices[0].x(),vertStride);
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bool useQuantizedAabbCompression = true;
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//comment out the next line to read the BVH from disk (first run the demo once to create the BVH)
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#ifdef SERIALIZE_TO_DISK
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btVector3 aabbMin(-1000,-1000,-1000),aabbMax(1000,1000,1000);
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trimeshShape = new btBvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression,aabbMin,aabbMax);
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m_collisionShapes.push_back(trimeshShape);
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int maxSerializeBufferSize = 1024*1024*5;
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btDefaultSerializer* serializer = new btDefaultSerializer(maxSerializeBufferSize);
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//serializer->setSerializationFlags(BT_SERIALIZE_NO_BVH);// or BT_SERIALIZE_NO_TRIANGLEINFOMAP
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serializer->startSerialization();
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//registering a name is optional, it allows you to retrieve the shape by name
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//serializer->registerNameForPointer(trimeshShape,"mymesh");
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#ifdef SERIALIZE_SHAPE
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trimeshShape->serializeSingleShape(serializer);
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#else
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trimeshShape->serializeSingleBvh(serializer);
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#endif
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serializer->finishSerialization();
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FILE* f2 = fopen("myShape.bullet","wb");
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fwrite(serializer->getBufferPointer(),serializer->getCurrentBufferSize(),1,f2);
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fclose(f2);
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#else
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btBulletWorldImporter import(0);//don't store info into the world
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if (import.loadFile("myShape.bullet"))
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{
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int numBvh = import.getNumBvhs();
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if (numBvh)
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{
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btOptimizedBvh* bvh = import.getBvhByIndex(0);
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btVector3 aabbMin(-1000,-1000,-1000),aabbMax(1000,1000,1000);
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trimeshShape = new btBvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression,aabbMin,aabbMax,false);
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trimeshShape->setOptimizedBvh(bvh);
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//trimeshShape = new btBvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression,aabbMin,aabbMax);
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//trimeshShape->setOptimizedBvh(bvh);
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}
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int numShape = import.getNumCollisionShapes();
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if (numShape)
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{
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trimeshShape = (btBvhTriangleMeshShape*)import.getCollisionShapeByIndex(0);
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//if you know the name, you can also try to get the shape by name:
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const char* meshName = import.getNameForPointer(trimeshShape);
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if (meshName)
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trimeshShape = (btBvhTriangleMeshShape*)import.getCollisionShapeByName(meshName);
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}
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}
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#endif
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btCollisionShape* groundShape = trimeshShape;
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#else
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btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50));
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m_collisionShapes.push_back(groundShape);
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#endif //USE_TRIMESH_SHAPE
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m_collisionConfiguration = new btDefaultCollisionConfiguration();
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#ifdef USE_PARALLEL_DISPATCHER
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#ifdef USE_WIN32_THREADING
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int maxNumOutstandingTasks = 4;//number of maximum outstanding tasks
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Win32ThreadSupport* threadSupport = new Win32ThreadSupport(Win32ThreadSupport::Win32ThreadConstructionInfo(
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"collision",
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processCollisionTask,
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createCollisionLocalStoreMemory,
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maxNumOutstandingTasks));
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#else
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///@todo show other platform threading
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///Playstation 3 SPU (SPURS) version is available through PS3 Devnet
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///Libspe2 SPU support will be available soon
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///pthreads version
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///you can hook it up to your custom task scheduler by deriving from btThreadSupportInterface
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#endif
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m_dispatcher = new SpuGatheringCollisionDispatcher(threadSupport,maxNumOutstandingTasks,m_collisionConfiguration);
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#else
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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#endif//USE_PARALLEL_DISPATCHER
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btVector3 worldMin(-1000,-1000,-1000);
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btVector3 worldMax(1000,1000,1000);
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m_broadphase = new btAxisSweep3(worldMin,worldMax);
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m_solver = new btSequentialImpulseConstraintSolver();
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m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
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#ifdef USE_PARALLEL_DISPATCHER
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m_dynamicsWorld->getDispatchInfo().m_enableSPU=true;
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#endif //USE_PARALLEL_DISPATCHER
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float mass = 0.f;
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btTransform startTransform;
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startTransform.setIdentity();
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startTransform.setOrigin(btVector3(0,-2,0));
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#ifdef USE_BOX_SHAPE
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btCollisionShape* colShape = new btBoxShape(btVector3(1,1,1));
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#else
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btCompoundShape* colShape = new btCompoundShape;
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btCollisionShape* cylinderShape = new btCylinderShapeX(btVector3(4,1,1));
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btCollisionShape* boxShape = new btBoxShape(btVector3(4,1,1));
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btTransform localTransform;
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localTransform.setIdentity();
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colShape->addChildShape(localTransform,boxShape);
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btQuaternion orn(SIMD_HALF_PI,0,0);
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localTransform.setRotation(orn);
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colShape->addChildShape(localTransform,cylinderShape);
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#endif //USE_BOX_SHAPE
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m_collisionShapes.push_back(colShape);
|
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|
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{
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for (int i=0;i<10;i++)
|
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{
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startTransform.setOrigin(btVector3(2,10+i*2,1));
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localCreateRigidBody(1, startTransform,colShape);
|
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}
|
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}
|
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|
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startTransform.setIdentity();
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staticBody = localCreateRigidBody(mass, startTransform,groundShape);
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staticBody->setCollisionFlags(staticBody->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);//STATIC_OBJECT);
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|
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//enable custom material callback
|
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staticBody->setCollisionFlags(staticBody->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
void ConcaveDemo::clientMoveAndDisplay()
|
||||
{
|
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
float dt = getDeltaTimeMicroseconds() * 0.000001f;
|
||||
|
||||
if (m_animatedMesh)
|
||||
{
|
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static float offset=0.f;
|
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offset+=dt;
|
||||
|
||||
// setVertexPositions(waveheight,offset);
|
||||
|
||||
int i;
|
||||
int j;
|
||||
btVector3 aabbMin(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
|
||||
btVector3 aabbMax(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT);
|
||||
|
||||
for ( i=NUM_VERTS_X/2-3;i<NUM_VERTS_X/2+2;i++)
|
||||
{
|
||||
for (j=NUM_VERTS_X/2-3;j<NUM_VERTS_Y/2+2;j++)
|
||||
{
|
||||
|
||||
aabbMax.setMax(gVertices[i+j*NUM_VERTS_X]);
|
||||
aabbMin.setMin(gVertices[i+j*NUM_VERTS_X]);
|
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|
||||
gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
|
||||
//0.f,
|
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waveheight*sinf((float)i+offset)*cosf((float)j+offset),
|
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(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
|
||||
|
||||
aabbMin.setMin(gVertices[i+j*NUM_VERTS_X]);
|
||||
aabbMax.setMax(gVertices[i+j*NUM_VERTS_X]);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
trimeshShape->partialRefitTree(aabbMin,aabbMax);
|
||||
|
||||
//clear all contact points involving mesh proxy. Note: this is a slow/unoptimized operation.
|
||||
m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(staticBody->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher());
|
||||
}
|
||||
|
||||
m_dynamicsWorld->stepSimulation(dt);
|
||||
|
||||
//optional but useful: debug drawing
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
|
||||
|
||||
renderme();
|
||||
|
||||
glFlush();
|
||||
swapBuffers();
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
void ConcaveDemo::displayCallback(void) {
|
||||
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
renderme();
|
||||
|
||||
//optional but useful: debug drawing
|
||||
if (m_dynamicsWorld)
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
|
||||
|
||||
glFlush();
|
||||
swapBuffers();
|
||||
}
|
||||
|
||||
|
||||
|
||||
void ConcaveDemo::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];
|
||||
btRigidBody* body = btRigidBody::upcast(obj);
|
||||
if (body && body->getMotionState())
|
||||
{
|
||||
delete body->getMotionState();
|
||||
}
|
||||
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;
|
||||
|
||||
if (m_indexVertexArrays)
|
||||
delete m_indexVertexArrays;
|
||||
|
||||
//delete solver
|
||||
delete m_solver;
|
||||
|
||||
//delete broadphase
|
||||
delete m_broadphase;
|
||||
|
||||
//delete dispatcher
|
||||
delete m_dispatcher;
|
||||
|
||||
delete m_collisionConfiguration;
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user