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
140
ObsoleteDemos/SerializeDemo/AMD/CMakeLists.txt
Normal file
140
ObsoleteDemos/SerializeDemo/AMD/CMakeLists.txt
Normal file
@@ -0,0 +1,140 @@
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INCLUDE_DIRECTORIES(
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${BULLET_PHYSICS_SOURCE_DIR}/src
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../OpenGL
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${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/BulletFileLoader
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${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/BulletWorldImporter
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${BULLET_PHYSICS_SOURCE_DIR}/Demos/SharedOpenCL
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${AMD_OPENCL_INCLUDES}
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)
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ADD_DEFINITIONS(-DDESERIALIZE_SOFT_BODIES)
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ADD_DEFINITIONS(-DUSE_AMD_OPENCL)
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ADD_DEFINITIONS(-DCL_PLATFORM_AMD)
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IF(WIN32)
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ADD_DEFINITIONS(-DGLEW_STATIC)
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ENDIF(WIN32)
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IF (USE_GLUT)
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LINK_LIBRARIES(
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OpenGLSupport
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BulletWorldImporter
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BulletSoftBody
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BulletDynamics
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BulletCollision
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BulletFileLoader
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LinearMath
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BulletSoftBodySolvers_OpenCL_AMD
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BulletMultiThreaded
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${GLUT_glut_LIBRARY}
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${OPENGL_gl_LIBRARY}
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${OPENGL_glu_LIBRARY}
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${CMAK_GLEW_LIBRARY}
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${CMAKE_ATISTREAMSDK_LIBRARY}
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)
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IF (WIN32)
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ADD_EXECUTABLE(AppSerializeDemo_AMD
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../main.cpp
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../SerializeDemo.cpp
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../SerializeDemo.h
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${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
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${BULLET_PHYSICS_SOURCE_DIR}/Demos/SharedOpenCL/btOpenCLUtils.cpp
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${BULLET_PHYSICS_SOURCE_DIR}/Demos/SharedOpenCL/btOpenCLUtils.h
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${BULLET_PHYSICS_SOURCE_DIR}/Demos/SharedOpenCL/btOpenCLInclude.h
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${BULLET_PHYSICS_SOURCE_DIR}/Demos/SharedOpenCL/clew.c
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${BULLET_PHYSICS_SOURCE_DIR}/Demos/SharedOpenCL/clew.h
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)
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ELSE()
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ADD_EXECUTABLE(AppSerializeDemo_AMD
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../main.cpp
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../SerializeDemo.cpp
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../SerializeDemo.h
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${BULLET_PHYSICS_SOURCE_DIR}/Demos/SharedOpenCL/btOpenCLUtils.cpp
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${BULLET_PHYSICS_SOURCE_DIR}/Demos/SharedOpenCL/btOpenCLUtils.h
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${BULLET_PHYSICS_SOURCE_DIR}/Demos/SharedOpenCL/btOpenCLInclude.h
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)
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ENDIF()
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ELSE (USE_GLUT)
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LINK_LIBRARIES(
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OpenGLSupport
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BulletWorldImporter
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BulletSoftBody
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BulletDynamics
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BulletCollision
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BulletFileLoader
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LinearMath
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BulletSoftBodySolvers_OpenCL_AMD
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BulletMultiThreaded
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${OPENGL_gl_LIBRARY}
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${OPENGL_glu_LIBRARY}
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${CMAKE_GLEW_LIBRARY}
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${CMAKE_ATISTREAMSDK_LIBRARY}
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)
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ADD_EXECUTABLE(AppSerializeDemo_AMD
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WIN32
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../../OpenGL/Win32AppMain.cpp
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../Win32SerializeDemo.cpp
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../SerializeDemo.cpp
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../SerializeDemo.h
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${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
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${BULLET_PHYSICS_SOURCE_DIR}/Demos/SharedOpenCL/btOpenCLUtils.cpp
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${BULLET_PHYSICS_SOURCE_DIR}/Demos/SharedOpenCL/btOpenCLUtils.h
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${BULLET_PHYSICS_SOURCE_DIR}/Demos/SharedOpenCL/btOpenCLInclude.h
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)
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ENDIF (USE_GLUT)
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IF(WIN32)
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IF (CMAKE_CL_64)
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IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
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ADD_CUSTOM_COMMAND( TARGET AppSerializeDemo_AMD POST_BUILD
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COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR} )
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ENDIF()
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ELSE(CMAKE_CL_64)
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IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
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ADD_CUSTOM_COMMAND( TARGET AppSerializeDemo_AMD POST_BUILD
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COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR})
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ENDIF()
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ENDIF(CMAKE_CL_64)
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ENDIF(WIN32)
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IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES AND NOT INTERNAL_UPDATE_SERIALIZATION_STRUCTURES)
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ADD_CUSTOM_COMMAND(
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TARGET AppSerializeDemo_AMD
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POST_BUILD
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COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/Demos/SerializeDemo/testFileCloth.bullet ${CMAKE_CURRENT_BINARY_DIR}/testFile.bullet
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COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/ApplyForces.cl ${CMAKE_CURRENT_BINARY_DIR}/OpenCLC10/ApplyForces.cl
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COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/ComputeBounds.cl ${CMAKE_CURRENT_BINARY_DIR}/OpenCLC10/ComputeBounds.cl
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COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/Integrate.cl ${CMAKE_CURRENT_BINARY_DIR}/OpenCLC10/Integrate.cl
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COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/OutputToVertexArray.cl ${CMAKE_CURRENT_BINARY_DIR}/OpenCLC10/OutputToVertexArray.cl
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COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/PrepareLinks.cl ${CMAKE_CURRENT_BINARY_DIR}/OpenCLC10/PrepareLinks.cl
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COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/SolveCollisionsAndUpdateVelocities.cl ${CMAKE_CURRENT_BINARY_DIR}/OpenCLC10/SolveCollisionsAndUpdateVelocities.cl
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COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/SolveCollisionsAndUpdateVelocitiesSIMDBatched.cl ${CMAKE_CURRENT_BINARY_DIR}/OpenCLC10/SolveCollisionsAndUpdateVelocitiesSIMDBatched.cl
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COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/SolvePositions.cl ${CMAKE_CURRENT_BINARY_DIR}/OpenCLC10/SolvePositions.cl
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COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/SolvePositionsSIMDBatched.cl ${CMAKE_CURRENT_BINARY_DIR}/OpenCLC10/SolvePositionsSIMDBatched.cl
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COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/UpdateConstants.cl ${CMAKE_CURRENT_BINARY_DIR}/OpenCLC10/UpdateConstants.cl
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COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/UpdateFixedVertexPositions.cl ${CMAKE_CURRENT_BINARY_DIR}/OpenCLC10/UpdateFixedVertexPositions.cl
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COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/UpdateNodes.cl ${CMAKE_CURRENT_BINARY_DIR}/OpenCLC10/UpdateNodes.cl
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COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/UpdateNormals.cl ${CMAKE_CURRENT_BINARY_DIR}/OpenCLC10/UpdateNormals.cl
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COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/UpdatePositions.cl ${CMAKE_CURRENT_BINARY_DIR}/OpenCLC10/UpdatePositions.cl
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||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/UpdatePositionsFromVelocities.cl ${CMAKE_CURRENT_BINARY_DIR}/OpenCLC10/UpdatePositionsFromVelocities.cl
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||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/VSolveLinks.cl ${CMAKE_CURRENT_BINARY_DIR}/OpenCLC10/VSolveLinks.cl
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||||
|
||||
)
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||||
ENDIF ()
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||||
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IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
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SET_TARGET_PROPERTIES(AppSerializeDemo_AMD PROPERTIES DEBUG_POSTFIX "_Debug")
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SET_TARGET_PROPERTIES(AppSerializeDemo_AMD PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
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SET_TARGET_PROPERTIES(AppSerializeDemo_AMD PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
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ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
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65
ObsoleteDemos/SerializeDemo/AMD/premake4.lua
Normal file
65
ObsoleteDemos/SerializeDemo/AMD/premake4.lua
Normal file
@@ -0,0 +1,65 @@
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hasCL = findOpenCL_AMD()
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if (hasCL) then
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project "AppOpenCLClothDemo_AMD"
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defines { "USE_AMD_OPENCL","CL_PLATFORM_AMD"}
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initOpenCL_AMD()
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language "C++"
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kind "ConsoleApp"
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targetdir "../../.."
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libdirs {"../../../Glut"}
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links {
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"LinearMath",
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"BulletCollision",
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"BulletDynamics",
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"BulletSoftBody",
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"BulletSoftBodySolvers_OpenCL_AMD",
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"opengl32"
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||||
}
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||||
|
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configuration "x64"
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links {
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||||
"glut64",
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"glew64s"
|
||||
}
|
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configuration "x32"
|
||||
links {
|
||||
"glut32",
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"glew32s"
|
||||
}
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||||
|
||||
configuration{}
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||||
|
||||
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||||
includedirs {
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||||
"../../../src",
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||||
"../../../Glut",
|
||||
"../../SharedOpenCL",
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||||
"../../OpenGL"
|
||||
}
|
||||
|
||||
files {
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||||
"../cl_cloth_demo.cpp",
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||||
"../../SharedOpenCL/btOclUtils.h",
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||||
"../../SharedOpenCL/btOclCommon.h",
|
||||
"../../SharedOpenCL/btOclUtils.cpp",
|
||||
"../../SharedOpenCL/btOclCommon.cpp",
|
||||
"../../OpenGL/GLDebugDrawer.cpp",
|
||||
"../../OpenGL/stb_image.cpp",
|
||||
"../../OpenGL/stb_image.h",
|
||||
"../gl_win.cpp",
|
||||
"../clstuff.cpp",
|
||||
"../clstuff.h",
|
||||
"../gl_win.h",
|
||||
"../cloth.h"
|
||||
}
|
||||
|
||||
end
|
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78
ObsoleteDemos/SerializeDemo/CMakeLists.txt
Normal file
78
ObsoleteDemos/SerializeDemo/CMakeLists.txt
Normal file
@@ -0,0 +1,78 @@
|
||||
# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
|
||||
|
||||
|
||||
# For every executable you have with a main method you should have an add_executable line below.
|
||||
# For every add executable line you should list every .cpp and .h file you have associated with that executable.
|
||||
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||||
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# This is the variable for Windows. I use this to define the root of my directory structure.
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SET(GLUT_ROOT ${BULLET_PHYSICS_SOURCE_DIR}/Glut)
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||||
|
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# You shouldn't have to modify anything below this line
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||||
########################################################
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||||
|
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IF(BUILD_AMD_OPENCL_DEMOS AND BUILD_MULTITHREADING)
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||||
SUBDIRS(AMD)
|
||||
ENDIF()
|
||||
|
||||
INCLUDE_DIRECTORIES(
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/src
|
||||
../OpenGL
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/BulletFileLoader
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/BulletWorldImporter
|
||||
)
|
||||
|
||||
ADD_DEFINITIONS(-DDESERIALIZE_SOFT_BODIES)
|
||||
|
||||
IF (USE_GLUT)
|
||||
LINK_LIBRARIES(
|
||||
OpenGLSupport BulletWorldImporter BulletSoftBody BulletDynamics BulletCollision BulletFileLoader LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
|
||||
)
|
||||
|
||||
IF (WIN32)
|
||||
ADD_EXECUTABLE(AppSerializeDemo
|
||||
main.cpp
|
||||
SerializeDemo.cpp
|
||||
SerializeDemo.h
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
|
||||
)
|
||||
ELSE()
|
||||
ADD_EXECUTABLE(AppSerializeDemo
|
||||
main.cpp
|
||||
SerializeDemo.cpp
|
||||
SerializeDemo.h
|
||||
)
|
||||
ENDIF()
|
||||
|
||||
ELSE (USE_GLUT)
|
||||
|
||||
LINK_LIBRARIES(
|
||||
OpenGLSupport BulletWorldImporter BulletSoftBody BulletDynamics BulletCollision BulletFileLoader LinearMath ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
|
||||
)
|
||||
|
||||
ADD_EXECUTABLE(AppSerializeDemo
|
||||
WIN32
|
||||
../OpenGL/Win32AppMain.cpp
|
||||
Win32SerializeDemo.cpp
|
||||
SerializeDemo.cpp
|
||||
SerializeDemo.h
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
|
||||
)
|
||||
ENDIF (USE_GLUT)
|
||||
|
||||
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES AND NOT INTERNAL_UPDATE_SERIALIZATION_STRUCTURES)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppSerializeDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/Demos/SerializeDemo/testFile.bullet ${CMAKE_CURRENT_BINARY_DIR}/testFile.bullet
|
||||
)
|
||||
ENDIF ()
|
||||
|
||||
|
||||
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
SET_TARGET_PROPERTIES(AppSerializeDemo PROPERTIES DEBUG_POSTFIX "_Debug")
|
||||
SET_TARGET_PROPERTIES(AppSerializeDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
|
||||
SET_TARGET_PROPERTIES(AppSerializeDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
|
||||
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
|
||||
|
||||
948
ObsoleteDemos/SerializeDemo/SerializeDemo.cpp
Normal file
948
ObsoleteDemos/SerializeDemo/SerializeDemo.cpp
Normal file
@@ -0,0 +1,948 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2010 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 TEST_SERIALIZATION 1
|
||||
//#undef DESERIALIZE_SOFT_BODIES
|
||||
|
||||
#ifdef BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
|
||||
#define CREATE_NEW_BULLETFILE 1
|
||||
#endif //BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
|
||||
|
||||
///create 125 (5x5x5) dynamic object
|
||||
#define ARRAY_SIZE_X 5
|
||||
#define ARRAY_SIZE_Y 5
|
||||
#define ARRAY_SIZE_Z 5
|
||||
|
||||
//maximum number of objects (and allow user to shoot additional boxes)
|
||||
#define MAX_PROXIES (ARRAY_SIZE_X*ARRAY_SIZE_Y*ARRAY_SIZE_Z + 1024)
|
||||
|
||||
///scaling of the objects (0.1 = 20 centimeter boxes )
|
||||
#define SCALING 1.
|
||||
#define START_POS_X -5
|
||||
#define START_POS_Y -5
|
||||
#define START_POS_Z -3
|
||||
|
||||
#include "SerializeDemo.h"
|
||||
#include "GlutStuff.h"
|
||||
///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
#ifdef TEST_SERIALIZATION
|
||||
#include "LinearMath/btSerializer.h"
|
||||
#include "btBulletFile.h"
|
||||
#include "btBulletWorldImporter.h"
|
||||
#endif //TEST_SERIALIZATION
|
||||
|
||||
#include "BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h"
|
||||
#include <stdio.h> //printf debugging
|
||||
|
||||
|
||||
|
||||
#ifdef DESERIALIZE_SOFT_BODIES
|
||||
#include "BulletSoftBody/btSoftBodySolvers.h"
|
||||
|
||||
|
||||
#ifdef USE_AMD_OPENCL
|
||||
#include <BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCL.h>
|
||||
#include <BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCLSIMDAware.h>
|
||||
#include "../SharedOpenCL/btOpenCLUtils.h"
|
||||
|
||||
extern cl_context g_cxMainContext;
|
||||
extern cl_device_id g_cdDevice;
|
||||
extern cl_command_queue g_cqCommandQue;
|
||||
#endif
|
||||
|
||||
btSoftBodySolver* fSoftBodySolver=0;
|
||||
|
||||
#include "BulletSoftBody/btSoftBodyHelpers.h"
|
||||
#include "BulletSoftBody/btSoftRigidDynamicsWorld.h"
|
||||
#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
|
||||
#endif
|
||||
|
||||
void SerializeDemo::keyboardCallback(unsigned char key, int x, int y)
|
||||
{
|
||||
btAlignedObjectArray<btRigidBody*> bodies;
|
||||
if (key == 'g')
|
||||
{
|
||||
int numManifolds = getDynamicsWorld()->getDispatcher()->getNumManifolds();
|
||||
|
||||
for (int i=0;i<numManifolds;i++)
|
||||
{
|
||||
btPersistentManifold* manifold = getDynamicsWorld()->getDispatcher()->getManifoldByIndexInternal(i);
|
||||
if (!manifold->getNumContacts())
|
||||
continue;
|
||||
|
||||
btScalar minDist = 1e30f;
|
||||
int minIndex = -1;
|
||||
for (int v=0;v<manifold->getNumContacts();v++)
|
||||
{
|
||||
if (minDist >manifold->getContactPoint(v).getDistance())
|
||||
{
|
||||
minDist = manifold->getContactPoint(v).getDistance();
|
||||
minIndex = v;
|
||||
}
|
||||
}
|
||||
if (minDist>0.)
|
||||
continue;
|
||||
|
||||
btCollisionObject* colObj0 = (btCollisionObject*)manifold->getBody0();
|
||||
btCollisionObject* colObj1 = (btCollisionObject*)manifold->getBody1();
|
||||
// int tag0 = (colObj0)->getIslandTag();
|
||||
// int tag1 = (colObj1)->getIslandTag();
|
||||
btRigidBody* body0 = btRigidBody::upcast(colObj0);
|
||||
btRigidBody* body1 = btRigidBody::upcast(colObj1);
|
||||
if (bodies.findLinearSearch(body0)==bodies.size())
|
||||
bodies.push_back(body0);
|
||||
if (bodies.findLinearSearch(body1)==bodies.size())
|
||||
bodies.push_back(body1);
|
||||
|
||||
if (body0 && body1)
|
||||
{
|
||||
if (!colObj0->isStaticOrKinematicObject() && !colObj1->isStaticOrKinematicObject())
|
||||
{
|
||||
if (body0->checkCollideWithOverride(body1))
|
||||
{
|
||||
{
|
||||
btTransform trA,trB;
|
||||
trA.setIdentity();
|
||||
trB.setIdentity();
|
||||
btVector3 contactPosWorld = manifold->getContactPoint(minIndex).m_positionWorldOnA;
|
||||
btTransform globalFrame;
|
||||
globalFrame.setIdentity();
|
||||
globalFrame.setOrigin(contactPosWorld);
|
||||
|
||||
trA = body0->getWorldTransform().inverse()*globalFrame;
|
||||
trB = body1->getWorldTransform().inverse()*globalFrame;
|
||||
|
||||
btGeneric6DofConstraint* dof6 = new btGeneric6DofConstraint(*body0,*body1,trA,trB,true);
|
||||
dof6->setOverrideNumSolverIterations(100);
|
||||
|
||||
dof6->setBreakingImpulseThreshold(35);
|
||||
|
||||
for (int i=0;i<6;i++)
|
||||
dof6->setLimit(i,0,0);
|
||||
getDynamicsWorld()->addConstraint(dof6,true);
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
for (int i=0;i<bodies.size();i++)
|
||||
{
|
||||
getDynamicsWorld()->removeRigidBody(bodies[i]);
|
||||
getDynamicsWorld()->addRigidBody(bodies[i]);
|
||||
}
|
||||
}else
|
||||
{
|
||||
PlatformDemoApplication::keyboardCallback(key,x,y);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void SerializeDemo::clientMoveAndDisplay()
|
||||
{
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
//simple dynamics world doesn't handle fixed-time-stepping
|
||||
float ms = getDeltaTimeMicroseconds();
|
||||
|
||||
///step the simulation
|
||||
if (m_dynamicsWorld)
|
||||
{
|
||||
m_dynamicsWorld->stepSimulation(ms / 1000000.f);
|
||||
|
||||
|
||||
#ifdef DESERIALIZE_SOFT_BODIES
|
||||
if (fSoftBodySolver)
|
||||
fSoftBodySolver->copyBackToSoftBodies();
|
||||
#endif
|
||||
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
|
||||
#ifdef DESERIALIZE_SOFT_BODIES
|
||||
if (m_dynamicsWorld->getWorldType()==BT_SOFT_RIGID_DYNAMICS_WORLD)
|
||||
{
|
||||
//optional but useful: debug drawing
|
||||
btSoftRigidDynamicsWorld* softWorld = (btSoftRigidDynamicsWorld*)m_dynamicsWorld;
|
||||
|
||||
for ( int i=0;i<softWorld->getSoftBodyArray().size();i++)
|
||||
{
|
||||
btSoftBody* psb=(btSoftBody*)softWorld->getSoftBodyArray()[i];
|
||||
if (softWorld->getDebugDrawer() && !(softWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
|
||||
{
|
||||
btSoftBodyHelpers::DrawFrame(psb,softWorld->getDebugDrawer());
|
||||
btSoftBodyHelpers::Draw(psb,softWorld->getDebugDrawer(),softWorld->getDrawFlags());
|
||||
}
|
||||
}
|
||||
}
|
||||
#endif //DESERIALIZE_SOFT_BODIES
|
||||
|
||||
}
|
||||
|
||||
renderme();
|
||||
|
||||
glFlush();
|
||||
|
||||
swapBuffers();
|
||||
|
||||
}
|
||||
#ifdef USE_AMD_OPENCL
|
||||
|
||||
///the CachingCLFuncs class will try to create/load precompiled binary programs, instead of the slow on-line compilation of programs
|
||||
class CachingCLFuncs : public CLFunctions
|
||||
{
|
||||
cl_device_id m_device;
|
||||
|
||||
public:
|
||||
|
||||
CachingCLFuncs (cl_command_queue cqCommandQue, cl_context cxMainContext, cl_device_id device)
|
||||
:CLFunctions(cqCommandQue,cxMainContext),
|
||||
m_device(device)
|
||||
{
|
||||
}
|
||||
|
||||
virtual cl_kernel compileCLKernelFromString( const char* kernelSource, const char* kernelName, const char* additionalMacros, const char* srcFileNameForCaching)
|
||||
{
|
||||
|
||||
cl_int pErrNum;
|
||||
cl_program prog;
|
||||
|
||||
prog = btOpenCLUtils::compileCLProgramFromFile( m_cxMainContext,m_device, &pErrNum,additionalMacros ,srcFileNameForCaching);
|
||||
if (!prog)
|
||||
{
|
||||
printf("Using embedded kernel source instead:\n");
|
||||
prog = btOpenCLUtils::compileCLProgramFromString( m_cxMainContext,m_device, kernelSource, &pErrNum,additionalMacros);
|
||||
}
|
||||
|
||||
return btOpenCLUtils::compileCLKernelFromString( m_cxMainContext,m_device, kernelSource, kernelName, &pErrNum, prog,additionalMacros);
|
||||
}
|
||||
|
||||
};
|
||||
#endif
|
||||
|
||||
|
||||
void SerializeDemo::displayCallback(void) {
|
||||
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
if (m_dynamicsWorld->getWorldType()==BT_SOFT_RIGID_DYNAMICS_WORLD)
|
||||
{
|
||||
#ifdef DESERIALIZE_SOFT_BODIES
|
||||
|
||||
//optional but useful: debug drawing
|
||||
btSoftRigidDynamicsWorld* softWorld = (btSoftRigidDynamicsWorld*)m_dynamicsWorld;
|
||||
|
||||
for ( int i=0;i<softWorld->getSoftBodyArray().size();i++)
|
||||
{
|
||||
btSoftBody* psb=(btSoftBody*)softWorld->getSoftBodyArray()[i];
|
||||
if (softWorld->getDebugDrawer() && !(softWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
|
||||
{
|
||||
btSoftBodyHelpers::DrawFrame(psb,softWorld->getDebugDrawer());
|
||||
btSoftBodyHelpers::Draw(psb,softWorld->getDebugDrawer(),softWorld->getDrawFlags());
|
||||
}
|
||||
}
|
||||
#endif //DESERIALIZE_SOFT_BODIES
|
||||
}
|
||||
|
||||
renderme();
|
||||
|
||||
//optional but useful: debug drawing to detect problems
|
||||
if (m_dynamicsWorld)
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
|
||||
glFlush();
|
||||
swapBuffers();
|
||||
}
|
||||
|
||||
enum SolverType
|
||||
{
|
||||
kSolverAccelerationOpenCL_CPU = 1,
|
||||
kSolverAccelerationOpenCL_GPU = 2,
|
||||
kSolverAccelerationNone = 3
|
||||
};
|
||||
|
||||
|
||||
void SerializeDemo::setupEmptyDynamicsWorld()
|
||||
{
|
||||
///collision configuration contains default setup for memory, collision setup
|
||||
//m_collisionConfiguration = new btDefaultCollisionConfiguration();
|
||||
#ifdef DESERIALIZE_SOFT_BODIES
|
||||
m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
|
||||
#else
|
||||
m_collisionConfiguration = new btDefaultCollisionConfiguration();
|
||||
#endif //DESERIALIZE_SOFT_BODIES
|
||||
|
||||
//m_collisionConfiguration->setConvexConvexMultipointIterations();
|
||||
|
||||
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
|
||||
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
|
||||
btGImpactCollisionAlgorithm::registerAlgorithm(m_dispatcher);
|
||||
|
||||
m_broadphase = new btDbvtBroadphase();
|
||||
|
||||
|
||||
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
|
||||
btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
|
||||
m_solver = sol;
|
||||
|
||||
#ifdef DESERIALIZE_SOFT_BODIES
|
||||
|
||||
|
||||
|
||||
#ifdef USE_AMD_OPENCL
|
||||
|
||||
int solverAccel = kSolverAccelerationOpenCL_GPU;
|
||||
|
||||
if ( 1 ) {
|
||||
switch (solverAccel)
|
||||
{
|
||||
case kSolverAccelerationOpenCL_GPU:
|
||||
{
|
||||
btOpenCLSoftBodySolverSIMDAware* softSolv= new btOpenCLSoftBodySolverSIMDAware( g_cqCommandQue, g_cxMainContext );
|
||||
//btOpenCLSoftBodySolver* softSolv= new btOpenCLSoftBodySolver( g_cqCommandQue, g_cxMainContext);
|
||||
fSoftBodySolver = softSolv;
|
||||
|
||||
CLFunctions* funcs = new CachingCLFuncs(g_cqCommandQue, g_cxMainContext,g_cdDevice);
|
||||
softSolv->setCLFunctions(funcs);
|
||||
|
||||
|
||||
break;
|
||||
}
|
||||
case kSolverAccelerationOpenCL_CPU:
|
||||
{
|
||||
//fSoftBodySolver = new btCPUSoftBodySolver();
|
||||
break;
|
||||
};
|
||||
case kSolverAccelerationNone:
|
||||
default:
|
||||
{
|
||||
fSoftBodySolver = NULL;
|
||||
}
|
||||
};
|
||||
}
|
||||
else
|
||||
{
|
||||
if ( solverAccel != kSolverAccelerationNone )
|
||||
{
|
||||
}
|
||||
else
|
||||
{
|
||||
}
|
||||
fSoftBodySolver = NULL;
|
||||
}
|
||||
#else
|
||||
|
||||
fSoftBodySolver = NULL;
|
||||
#endif
|
||||
|
||||
btSoftRigidDynamicsWorld* world = new btSoftRigidDynamicsWorld(m_dispatcher, m_broadphase, m_solver,
|
||||
m_collisionConfiguration, fSoftBodySolver);
|
||||
m_dynamicsWorld = world;
|
||||
|
||||
|
||||
//world->setDrawFlags(world->getDrawFlags()^fDrawFlags::Clusters);
|
||||
#else
|
||||
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
|
||||
//m_dynamicsWorld ->getSolverInfo().m_solverMode|=SOLVER_RANDMIZE_ORDER;
|
||||
//m_dynamicsWorld->getDispatchInfo().m_enableSatConvex = true;
|
||||
//m_dynamicsWorld->getSolverInfo().m_splitImpulse=true;
|
||||
#endif //DESERIALIZE_SOFT_BODIES
|
||||
|
||||
//btGImpactCollisionAlgorithm::registerAlgorithm((btCollisionDispatcher*)m_dynamicsWorld->getDispatcher());
|
||||
|
||||
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
|
||||
|
||||
}
|
||||
|
||||
|
||||
#ifdef DESERIALIZE_SOFT_BODIES
|
||||
#include "BulletSoftBody/btSoftBodyData.h"
|
||||
class MySoftBulletWorldImporter : public btBulletWorldImporter
|
||||
{
|
||||
|
||||
btSoftRigidDynamicsWorld* m_softRigidWorld;
|
||||
|
||||
btHashMap<btHashPtr,btSoftBody::Material*> m_materialMap;
|
||||
|
||||
btHashMap<btHashPtr,btSoftBody*> m_clusterBodyMap;
|
||||
btHashMap<btHashPtr,btSoftBody*> m_softBodyMap;
|
||||
|
||||
|
||||
|
||||
public:
|
||||
|
||||
MySoftBulletWorldImporter(btSoftRigidDynamicsWorld* world)
|
||||
:btBulletWorldImporter(world),
|
||||
m_softRigidWorld(world)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
virtual ~MySoftBulletWorldImporter()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
virtual bool convertAllObjects( bParse::btBulletFile* bulletFile2)
|
||||
{
|
||||
bool result = btBulletWorldImporter::convertAllObjects(bulletFile2);
|
||||
int i;
|
||||
//now the soft bodies
|
||||
for (i=0;i<bulletFile2->m_softBodies.size();i++)
|
||||
{
|
||||
if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
|
||||
{
|
||||
btAssert(0); //not yet
|
||||
//btSoftBodyFloatData* softBodyData = (btSoftBodyFloatData*)bulletFile2->m_softBodies[i];
|
||||
} else
|
||||
{
|
||||
btSoftBodyFloatData* softBodyData = (btSoftBodyFloatData*)bulletFile2->m_softBodies[i];
|
||||
int i;
|
||||
int numNodes = softBodyData->m_numNodes;
|
||||
|
||||
|
||||
btSoftBody* psb=new btSoftBody(&m_softRigidWorld->getWorldInfo());
|
||||
m_softBodyMap.insert(softBodyData,psb);
|
||||
|
||||
//materials
|
||||
for (i=0;i<softBodyData->m_numMaterials;i++)
|
||||
{
|
||||
SoftBodyMaterialData* matData = softBodyData->m_materials[i];
|
||||
btSoftBody::Material** matPtr = m_materialMap.find(matData);
|
||||
btSoftBody::Material* mat = 0;
|
||||
if (matPtr&& *matPtr)
|
||||
{
|
||||
mat = *matPtr;
|
||||
} else
|
||||
{
|
||||
mat = psb->appendMaterial();
|
||||
mat->m_flags = matData->m_flags;
|
||||
mat->m_kAST = matData->m_angularStiffness;
|
||||
mat->m_kLST = matData->m_linearStiffness;
|
||||
mat->m_kVST = matData->m_volumeStiffness;
|
||||
m_materialMap.insert(matData,mat);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
for (i=0;i<numNodes;i++)
|
||||
{
|
||||
SoftBodyNodeData& nodeData = softBodyData->m_nodes[i];
|
||||
btVector3 position;
|
||||
position.deSerializeFloat(nodeData.m_position);
|
||||
btScalar mass = nodeData.m_inverseMass? 1./nodeData.m_inverseMass : 0.f;
|
||||
psb->appendNode(position,mass);
|
||||
btSoftBody::Node* node = &psb->m_nodes[psb->m_nodes.size()-1];
|
||||
node->m_area = nodeData.m_area;
|
||||
node->m_battach = nodeData.m_attach;
|
||||
node->m_f.deSerializeFloat(nodeData.m_accumulatedForce);
|
||||
node->m_im = nodeData.m_inverseMass;
|
||||
|
||||
btSoftBody::Material** matPtr = m_materialMap.find(nodeData.m_material);
|
||||
if (matPtr && *matPtr)
|
||||
{
|
||||
node->m_material = *matPtr;
|
||||
} else
|
||||
{
|
||||
printf("no mat?\n");
|
||||
}
|
||||
|
||||
node->m_n.deSerializeFloat(nodeData.m_normal);
|
||||
node->m_q = node->m_x;
|
||||
node->m_v.deSerializeFloat(nodeData.m_velocity);
|
||||
|
||||
}
|
||||
|
||||
for (i=0;i<softBodyData->m_numLinks;i++)
|
||||
{
|
||||
SoftBodyLinkData& linkData = softBodyData->m_links[i];
|
||||
btSoftBody::Material** matPtr = m_materialMap.find(linkData.m_material);
|
||||
if (matPtr && *matPtr)
|
||||
{
|
||||
psb->appendLink(linkData.m_nodeIndices[0],linkData.m_nodeIndices[1],*matPtr);
|
||||
} else
|
||||
{
|
||||
psb->appendLink(linkData.m_nodeIndices[0],linkData.m_nodeIndices[1]);
|
||||
}
|
||||
btSoftBody::Link* link = &psb->m_links[psb->m_links.size()-1];
|
||||
link->m_bbending = linkData.m_bbending;
|
||||
link->m_rl = linkData.m_restLength;
|
||||
}
|
||||
|
||||
for (i=0;i<softBodyData->m_numFaces;i++)
|
||||
{
|
||||
SoftBodyFaceData& faceData = softBodyData->m_faces[i];
|
||||
btSoftBody::Material** matPtr = m_materialMap.find(faceData.m_material);
|
||||
if (matPtr && *matPtr)
|
||||
{
|
||||
psb->appendFace(faceData.m_nodeIndices[0],faceData.m_nodeIndices[1],faceData.m_nodeIndices[2],*matPtr);
|
||||
} else
|
||||
{
|
||||
psb->appendFace(faceData.m_nodeIndices[0],faceData.m_nodeIndices[1],faceData.m_nodeIndices[2]);
|
||||
}
|
||||
btSoftBody::Face* face = &psb->m_faces[psb->m_faces.size()-1];
|
||||
face->m_normal.deSerializeFloat(faceData.m_normal);
|
||||
face->m_ra = faceData.m_restArea;
|
||||
}
|
||||
|
||||
|
||||
|
||||
//anchors
|
||||
for (i=0;i<softBodyData->m_numAnchors;i++)
|
||||
{
|
||||
btCollisionObject** colAptr = m_bodyMap.find(softBodyData->m_anchors[i].m_rigidBody);
|
||||
if (colAptr && *colAptr)
|
||||
{
|
||||
btRigidBody* body = btRigidBody::upcast(*colAptr);
|
||||
if (body)
|
||||
{
|
||||
bool disableCollision = false;
|
||||
btVector3 localPivot;
|
||||
localPivot.deSerializeFloat(softBodyData->m_anchors[i].m_localFrame);
|
||||
psb->appendAnchor(softBodyData->m_anchors[i].m_nodeIndex,body,localPivot, disableCollision);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (softBodyData->m_pose)
|
||||
{
|
||||
psb->m_pose.m_aqq.deSerializeFloat( softBodyData->m_pose->m_aqq);
|
||||
psb->m_pose.m_bframe = (softBodyData->m_pose->m_bframe!=0);
|
||||
psb->m_pose.m_bvolume = (softBodyData->m_pose->m_bvolume!=0);
|
||||
psb->m_pose.m_com.deSerializeFloat(softBodyData->m_pose->m_com);
|
||||
|
||||
psb->m_pose.m_pos.resize(softBodyData->m_pose->m_numPositions);
|
||||
for (i=0;i<softBodyData->m_pose->m_numPositions;i++)
|
||||
{
|
||||
psb->m_pose.m_pos[i].deSerializeFloat(softBodyData->m_pose->m_positions[i]);
|
||||
}
|
||||
psb->m_pose.m_rot.deSerializeFloat(softBodyData->m_pose->m_rot);
|
||||
psb->m_pose.m_scl.deSerializeFloat(softBodyData->m_pose->m_scale);
|
||||
psb->m_pose.m_wgh.resize(softBodyData->m_pose->m_numWeigts);
|
||||
for (i=0;i<softBodyData->m_pose->m_numWeigts;i++)
|
||||
{
|
||||
psb->m_pose.m_wgh[i] = softBodyData->m_pose->m_weights[i];
|
||||
}
|
||||
psb->m_pose.m_volume = softBodyData->m_pose->m_restVolume;
|
||||
}
|
||||
|
||||
#if 1
|
||||
psb->m_cfg.piterations=softBodyData->m_config.m_positionIterations;
|
||||
psb->m_cfg.diterations=softBodyData->m_config.m_driftIterations;
|
||||
psb->m_cfg.citerations=softBodyData->m_config.m_clusterIterations;
|
||||
psb->m_cfg.viterations=softBodyData->m_config.m_velocityIterations;
|
||||
|
||||
//psb->setTotalMass(0.1);
|
||||
psb->m_cfg.aeromodel = (btSoftBody::eAeroModel::_)softBodyData->m_config.m_aeroModel;
|
||||
psb->m_cfg.kLF = softBodyData->m_config.m_lift;
|
||||
psb->m_cfg.kDG = softBodyData->m_config.m_drag;
|
||||
psb->m_cfg.kMT = softBodyData->m_config.m_poseMatch;
|
||||
psb->m_cfg.collisions = softBodyData->m_config.m_collisionFlags;
|
||||
psb->m_cfg.kDF = 1.f;//softBodyData->m_config.m_dynamicFriction;
|
||||
psb->m_cfg.kDP = softBodyData->m_config.m_damping;
|
||||
psb->m_cfg.kPR = softBodyData->m_config.m_pressure;
|
||||
psb->m_cfg.kVC = softBodyData->m_config.m_volume;
|
||||
psb->m_cfg.kAHR = softBodyData->m_config.m_anchorHardness;
|
||||
psb->m_cfg.kKHR = softBodyData->m_config.m_kineticContactHardness;
|
||||
psb->m_cfg.kSHR = softBodyData->m_config.m_softContactHardness;
|
||||
psb->m_cfg.kSRHR_CL = softBodyData->m_config.m_softRigidClusterHardness;
|
||||
psb->m_cfg.kSKHR_CL = softBodyData->m_config.m_softKineticClusterHardness;
|
||||
psb->m_cfg.kSSHR_CL = softBodyData->m_config.m_softSoftClusterHardness;
|
||||
#endif
|
||||
|
||||
// pm->m_kLST = 1;
|
||||
|
||||
#if 1
|
||||
//clusters
|
||||
if (softBodyData->m_numClusters)
|
||||
{
|
||||
m_clusterBodyMap.insert(softBodyData->m_clusters,psb);
|
||||
int j;
|
||||
psb->m_clusters.resize(softBodyData->m_numClusters);
|
||||
for (i=0;i<softBodyData->m_numClusters;i++)
|
||||
{
|
||||
psb->m_clusters[i] = new(btAlignedAlloc(sizeof(btSoftBody::Cluster),16)) btSoftBody::Cluster();
|
||||
psb->m_clusters[i]->m_adamping = softBodyData->m_clusters[i].m_adamping;
|
||||
psb->m_clusters[i]->m_av.deSerializeFloat(softBodyData->m_clusters[i].m_av);
|
||||
psb->m_clusters[i]->m_clusterIndex = softBodyData->m_clusters[i].m_clusterIndex;
|
||||
psb->m_clusters[i]->m_collide = (softBodyData->m_clusters[i].m_collide!=0);
|
||||
psb->m_clusters[i]->m_com.deSerializeFloat(softBodyData->m_clusters[i].m_com);
|
||||
psb->m_clusters[i]->m_containsAnchor = (softBodyData->m_clusters[i].m_containsAnchor!=0);
|
||||
psb->m_clusters[i]->m_dimpulses[0].deSerializeFloat(softBodyData->m_clusters[i].m_dimpulses[0]);
|
||||
psb->m_clusters[i]->m_dimpulses[1].deSerializeFloat(softBodyData->m_clusters[i].m_dimpulses[1]);
|
||||
|
||||
psb->m_clusters[i]->m_framerefs.resize(softBodyData->m_clusters[i].m_numFrameRefs);
|
||||
for (j=0;j<softBodyData->m_clusters[i].m_numFrameRefs;j++)
|
||||
{
|
||||
psb->m_clusters[i]->m_framerefs[j].deSerializeFloat(softBodyData->m_clusters[i].m_framerefs[j]);
|
||||
}
|
||||
psb->m_clusters[i]->m_nodes.resize(softBodyData->m_clusters[i].m_numNodes);
|
||||
for (j=0;j<softBodyData->m_clusters[i].m_numNodes;j++)
|
||||
{
|
||||
int nodeIndex = softBodyData->m_clusters[i].m_nodeIndices[j];
|
||||
psb->m_clusters[i]->m_nodes[j] = &psb->m_nodes[nodeIndex];
|
||||
}
|
||||
|
||||
psb->m_clusters[i]->m_masses.resize(softBodyData->m_clusters[i].m_numMasses);
|
||||
for (j=0;j<softBodyData->m_clusters[i].m_numMasses;j++)
|
||||
{
|
||||
psb->m_clusters[i]->m_masses[j] = softBodyData->m_clusters[i].m_masses[j];
|
||||
}
|
||||
psb->m_clusters[i]->m_framexform.deSerializeFloat(softBodyData->m_clusters[i].m_framexform);
|
||||
psb->m_clusters[i]->m_idmass = softBodyData->m_clusters[i].m_idmass;
|
||||
psb->m_clusters[i]->m_imass = softBodyData->m_clusters[i].m_imass;
|
||||
psb->m_clusters[i]->m_invwi.deSerializeFloat(softBodyData->m_clusters[i].m_invwi);
|
||||
psb->m_clusters[i]->m_ldamping = softBodyData->m_clusters[i].m_ldamping;
|
||||
psb->m_clusters[i]->m_locii.deSerializeFloat(softBodyData->m_clusters[i].m_locii);
|
||||
psb->m_clusters[i]->m_lv.deSerializeFloat(softBodyData->m_clusters[i].m_lv);
|
||||
psb->m_clusters[i]->m_matching = softBodyData->m_clusters[i].m_matching;
|
||||
psb->m_clusters[i]->m_maxSelfCollisionImpulse = 0;//softBodyData->m_clusters[i].m_maxSelfCollisionImpulse;
|
||||
psb->m_clusters[i]->m_ndamping = softBodyData->m_clusters[i].m_ndamping;
|
||||
psb->m_clusters[i]->m_ndimpulses = softBodyData->m_clusters[i].m_ndimpulses;
|
||||
psb->m_clusters[i]->m_nvimpulses = softBodyData->m_clusters[i].m_nvimpulses;
|
||||
psb->m_clusters[i]->m_selfCollisionImpulseFactor = softBodyData->m_clusters[i].m_selfCollisionImpulseFactor;
|
||||
psb->m_clusters[i]->m_vimpulses[0].deSerializeFloat(softBodyData->m_clusters[i].m_vimpulses[0]);
|
||||
psb->m_clusters[i]->m_vimpulses[1].deSerializeFloat(softBodyData->m_clusters[i].m_vimpulses[1]);
|
||||
|
||||
}
|
||||
//psb->initializeClusters();
|
||||
//psb->updateClusters();
|
||||
|
||||
}
|
||||
#else
|
||||
|
||||
psb->m_cfg.piterations = 2;
|
||||
psb->m_cfg.collisions = btSoftBody::fCollision::CL_SS+ btSoftBody::fCollision::CL_RS;
|
||||
//psb->setTotalMass(50,true);
|
||||
//psb->generateClusters(64);
|
||||
//psb->m_cfg.kDF=1;
|
||||
psb->generateClusters(8);
|
||||
|
||||
|
||||
#endif //
|
||||
|
||||
|
||||
|
||||
psb->updateConstants();
|
||||
m_softRigidWorld->getWorldInfo().m_dispatcher = m_softRigidWorld->getDispatcher();
|
||||
|
||||
m_softRigidWorld->addSoftBody(psb);
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
//now the soft body joints
|
||||
for (i=0;i<bulletFile2->m_softBodies.size();i++)
|
||||
{
|
||||
if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
|
||||
{
|
||||
btAssert(0); //not yet
|
||||
//btSoftBodyFloatData* softBodyData = (btSoftBodyFloatData*)bulletFile2->m_softBodies[i];
|
||||
} else
|
||||
{
|
||||
btSoftBodyFloatData* softBodyData = (btSoftBodyFloatData*)bulletFile2->m_softBodies[i];
|
||||
btSoftBody** sbp = m_softBodyMap.find(softBodyData);
|
||||
if (sbp && *sbp)
|
||||
{
|
||||
btSoftBody* sb = *sbp;
|
||||
for (int i=0;i<softBodyData->m_numJoints;i++)
|
||||
{
|
||||
btSoftBodyJointData* sbjoint = &softBodyData->m_joints[i];
|
||||
|
||||
|
||||
btSoftBody::Body bdyB;
|
||||
|
||||
btSoftBody* sbB = 0;
|
||||
btTransform transA;
|
||||
transA.setIdentity();
|
||||
transA = sb->m_clusters[0]->m_framexform;
|
||||
|
||||
btCollisionObject** colBptr = m_bodyMap.find(sbjoint->m_bodyB);
|
||||
if (colBptr && *colBptr)
|
||||
{
|
||||
btRigidBody* rbB = btRigidBody::upcast(*colBptr);
|
||||
if (rbB)
|
||||
{
|
||||
bdyB = rbB;
|
||||
} else
|
||||
{
|
||||
bdyB = *colBptr;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
btSoftBody** bodyBptr = m_clusterBodyMap.find(sbjoint->m_bodyB);
|
||||
if (bodyBptr && *bodyBptr )
|
||||
{
|
||||
sbB = *bodyBptr;
|
||||
bdyB = sbB->m_clusters[0];
|
||||
}
|
||||
|
||||
|
||||
if (sbjoint->m_jointType==btSoftBody::Joint::eType::Linear)
|
||||
{
|
||||
btSoftBody::LJoint::Specs specs;
|
||||
specs.cfm = sbjoint->m_cfm;
|
||||
specs.erp = sbjoint->m_erp;
|
||||
specs.split = sbjoint->m_split;
|
||||
btVector3 relA;
|
||||
relA.deSerializeFloat(sbjoint->m_refs[0]);
|
||||
specs.position = transA*relA;
|
||||
sb->appendLinearJoint(specs,sb->m_clusters[0],bdyB);
|
||||
}
|
||||
|
||||
if (sbjoint->m_jointType==btSoftBody::Joint::eType::Angular)
|
||||
{
|
||||
btSoftBody::AJoint::Specs specs;
|
||||
specs.cfm = sbjoint->m_cfm;
|
||||
specs.erp = sbjoint->m_erp;
|
||||
specs.split = sbjoint->m_split;
|
||||
btVector3 relA;
|
||||
relA.deSerializeFloat(sbjoint->m_refs[0]);
|
||||
specs.axis = transA.getBasis()*relA;
|
||||
sb->appendAngularJoint(specs,sb->m_clusters[0],bdyB);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
return result;
|
||||
|
||||
}
|
||||
};
|
||||
#endif //DESERIALIZE_SOFT_BODIES
|
||||
|
||||
SerializeDemo::SerializeDemo()
|
||||
:m_verboseMode(0),
|
||||
m_fileName("testFile.bullet")
|
||||
{
|
||||
m_idle=true;
|
||||
|
||||
}
|
||||
SerializeDemo::~SerializeDemo()
|
||||
{
|
||||
m_fileLoader->deleteAllData();
|
||||
delete m_fileLoader;
|
||||
exitPhysics();
|
||||
}
|
||||
|
||||
void SerializeDemo::initPhysics()
|
||||
{
|
||||
setTexturing(true);
|
||||
setShadows(false);//true);
|
||||
|
||||
setCameraDistance(btScalar(SCALING*30.));
|
||||
|
||||
setupEmptyDynamicsWorld();
|
||||
|
||||
#ifdef DESERIALIZE_SOFT_BODIES
|
||||
m_fileLoader = new MySoftBulletWorldImporter((btSoftRigidDynamicsWorld*)m_dynamicsWorld);
|
||||
#else
|
||||
m_fileLoader = new btBulletWorldImporter(m_dynamicsWorld);
|
||||
#endif //DESERIALIZE_SOFT_BODIES
|
||||
|
||||
m_fileLoader->setVerboseMode(m_verboseMode);
|
||||
|
||||
|
||||
|
||||
if (!m_fileLoader->loadFile("testFile.bullet", "testFileSwappedEndianness.bullet"))
|
||||
// if (!m_fileLoader->loadFile("../SoftDemo/testFile.bullet"))
|
||||
{
|
||||
///create a few basic rigid bodies and save them to testFile.bullet
|
||||
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
|
||||
// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
|
||||
btCollisionObject* groundObject = 0;
|
||||
|
||||
|
||||
m_collisionShapes.push_back(groundShape);
|
||||
|
||||
btTransform groundTransform;
|
||||
groundTransform.setIdentity();
|
||||
groundTransform.setOrigin(btVector3(0,-50,0));
|
||||
|
||||
//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
|
||||
{
|
||||
btScalar mass(0.);
|
||||
|
||||
//rigidbody is dynamic if and only if mass is non zero, otherwise static
|
||||
bool isDynamic = (mass != 0.f);
|
||||
|
||||
btVector3 localInertia(0,0,0);
|
||||
if (isDynamic)
|
||||
groundShape->calculateLocalInertia(mass,localInertia);
|
||||
|
||||
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
|
||||
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
|
||||
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
|
||||
btRigidBody* body = new btRigidBody(rbInfo);
|
||||
|
||||
//add the body to the dynamics world
|
||||
m_dynamicsWorld->addRigidBody(body);
|
||||
groundObject = body;
|
||||
}
|
||||
|
||||
|
||||
{
|
||||
//create a few dynamic rigidbodies
|
||||
// Re-using the same collision is better for memory usage and performance
|
||||
|
||||
int numSpheres = 2;
|
||||
btVector3 positions[2] = {btVector3(0.1f,0.2f,0.3f),btVector3(0.4f,0.5f,0.6f)};
|
||||
btScalar radii[2] = {0.3f,0.4f};
|
||||
|
||||
btMultiSphereShape* colShape = new btMultiSphereShape(positions,radii,numSpheres);
|
||||
|
||||
//btCollisionShape* colShape = new btCapsuleShapeZ(SCALING*1,SCALING*1);
|
||||
//btCollisionShape* colShape = new btCylinderShapeZ(btVector3(SCALING*1,SCALING*1,SCALING*1));
|
||||
//btCollisionShape* colShape = new btBoxShape(btVector3(SCALING*1,SCALING*1,SCALING*1));
|
||||
//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
|
||||
m_collisionShapes.push_back(colShape);
|
||||
|
||||
/// Create Dynamic Objects
|
||||
btTransform startTransform;
|
||||
startTransform.setIdentity();
|
||||
|
||||
btScalar mass(1.f);
|
||||
|
||||
//rigidbody is dynamic if and only if mass is non zero, otherwise static
|
||||
bool isDynamic = (mass != 0.f);
|
||||
|
||||
btVector3 localInertia(0,0,0);
|
||||
if (isDynamic)
|
||||
colShape->calculateLocalInertia(mass,localInertia);
|
||||
|
||||
float start_x = START_POS_X - ARRAY_SIZE_X/2;
|
||||
float start_y = START_POS_Y;
|
||||
float start_z = START_POS_Z - ARRAY_SIZE_Z/2;
|
||||
|
||||
for (int k=0;k<ARRAY_SIZE_Y;k++)
|
||||
{
|
||||
for (int i=0;i<ARRAY_SIZE_X;i++)
|
||||
{
|
||||
for(int j = 0;j<ARRAY_SIZE_Z;j++)
|
||||
{
|
||||
startTransform.setOrigin(SCALING*btVector3(
|
||||
btScalar(2.0*i + start_x),
|
||||
btScalar(20+2.0*k + start_y),
|
||||
btScalar(2.0*j + start_z)));
|
||||
|
||||
|
||||
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
|
||||
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
|
||||
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
|
||||
btRigidBody* body = new btRigidBody(rbInfo);
|
||||
|
||||
m_dynamicsWorld->addRigidBody(body);
|
||||
//body->setActivationState(ISLAND_SLEEPING);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
int maxSerializeBufferSize = 1024*1024*5;
|
||||
|
||||
btDefaultSerializer* serializer = new btDefaultSerializer(maxSerializeBufferSize);
|
||||
|
||||
static const char* groundName = "GroundName";
|
||||
serializer->registerNameForPointer(groundObject, groundName);
|
||||
|
||||
for (int i=0;i<m_collisionShapes.size();i++)
|
||||
{
|
||||
char* name = new char[20];
|
||||
|
||||
sprintf(name,"name%d",i);
|
||||
serializer->registerNameForPointer(m_collisionShapes[i],name);
|
||||
}
|
||||
|
||||
btPoint2PointConstraint* p2p = new btPoint2PointConstraint(*(btRigidBody*)getDynamicsWorld()->getCollisionObjectArray()[2],btVector3(0,1,0));
|
||||
m_dynamicsWorld->addConstraint(p2p);
|
||||
|
||||
const char* name = "constraintje";
|
||||
serializer->registerNameForPointer(p2p,name);
|
||||
|
||||
m_dynamicsWorld->serialize(serializer);
|
||||
#if 1
|
||||
FILE* f2 = fopen("testFile.bullet","wb");
|
||||
fwrite(serializer->getBufferPointer(),serializer->getCurrentBufferSize(),1,f2);
|
||||
fclose(f2);
|
||||
#endif
|
||||
|
||||
}
|
||||
|
||||
//clientResetScene();
|
||||
|
||||
}
|
||||
|
||||
|
||||
void SerializeDemo::exitPhysics()
|
||||
{
|
||||
|
||||
//cleanup in the reverse order of creation/initialization
|
||||
//removed/delete constraints
|
||||
int i;
|
||||
for (i=m_dynamicsWorld->getNumConstraints()-1; i>=0 ;i--)
|
||||
{
|
||||
btTypedConstraint* constraint = m_dynamicsWorld->getConstraint(i);
|
||||
m_dynamicsWorld->removeConstraint(constraint);
|
||||
delete constraint;
|
||||
}
|
||||
|
||||
//remove the rigidbodies from the dynamics world and delete them
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
m_collisionShapes.clear();
|
||||
|
||||
delete m_dynamicsWorld;
|
||||
|
||||
delete m_solver;
|
||||
|
||||
delete m_broadphase;
|
||||
|
||||
delete m_dispatcher;
|
||||
|
||||
delete m_collisionConfiguration;
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
103
ObsoleteDemos/SerializeDemo/SerializeDemo.h
Normal file
103
ObsoleteDemos/SerializeDemo/SerializeDemo.h
Normal file
@@ -0,0 +1,103 @@
|
||||
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2010 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 SERIALIZE_DEMO_H
|
||||
#define SERIALIZE_DEMO_H
|
||||
|
||||
#ifdef _WINDOWS
|
||||
#include "Win32DemoApplication.h"
|
||||
#define PlatformDemoApplication Win32DemoApplication
|
||||
#else
|
||||
#include "GlutDemoApplication.h"
|
||||
#define PlatformDemoApplication GlutDemoApplication
|
||||
#endif
|
||||
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
|
||||
class btBroadphaseInterface;
|
||||
class btCollisionShape;
|
||||
class btOverlappingPairCache;
|
||||
class btCollisionDispatcher;
|
||||
class btConstraintSolver;
|
||||
struct btCollisionAlgorithmCreateFunc;
|
||||
class btDefaultCollisionConfiguration;
|
||||
|
||||
///SerializeDemo shows how to use save and load binary .bullet physics files (work-in-progress)
|
||||
class SerializeDemo : public PlatformDemoApplication
|
||||
{
|
||||
|
||||
//keep the collision shapes, for deletion/cleanup
|
||||
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
|
||||
|
||||
btBroadphaseInterface* m_broadphase;
|
||||
|
||||
btCollisionDispatcher* m_dispatcher;
|
||||
|
||||
btConstraintSolver* m_solver;
|
||||
|
||||
btDefaultCollisionConfiguration* m_collisionConfiguration;
|
||||
|
||||
class btBulletWorldImporter* m_fileLoader;
|
||||
const char* m_fileName;
|
||||
int m_verboseMode;
|
||||
|
||||
public:
|
||||
|
||||
SerializeDemo();
|
||||
virtual ~SerializeDemo();
|
||||
|
||||
void initPhysics();
|
||||
|
||||
void setupEmptyDynamicsWorld();
|
||||
|
||||
void exitPhysics();
|
||||
|
||||
virtual void keyboardCallback(unsigned char key, int x, int y);
|
||||
|
||||
virtual void clientMoveAndDisplay();
|
||||
|
||||
virtual void displayCallback();
|
||||
|
||||
void setFileName(const char* name)
|
||||
{
|
||||
m_fileName = name;
|
||||
}
|
||||
const char* getFileName() const
|
||||
{
|
||||
return m_fileName;
|
||||
}
|
||||
|
||||
void setVerboseMode(int mode)
|
||||
{
|
||||
m_verboseMode = mode;
|
||||
}
|
||||
int getVerboseMode() const
|
||||
{
|
||||
return m_verboseMode;
|
||||
}
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
SerializeDemo* demo = new SerializeDemo;
|
||||
demo->myinit();
|
||||
demo->initPhysics();
|
||||
return demo;
|
||||
}
|
||||
|
||||
|
||||
};
|
||||
|
||||
#endif //SERIALIZE_DEMO_H
|
||||
|
||||
25
ObsoleteDemos/SerializeDemo/Win32SerializeDemo.cpp
Normal file
25
ObsoleteDemos/SerializeDemo/Win32SerializeDemo.cpp
Normal file
@@ -0,0 +1,25 @@
|
||||
#ifdef _WINDOWS
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2010 Erwin Coumans http://bulletphysics.org
|
||||
|
||||
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.
|
||||
*/
|
||||
|
||||
#include "SerializeDemo.h"
|
||||
|
||||
///The 'createDemo' function is called from Bullet/Demos/OpenGL/Win32AppMain.cpp to instantiate this particular demo
|
||||
DemoApplication* createDemo()
|
||||
{
|
||||
return new SerializeDemo();
|
||||
}
|
||||
|
||||
#endif
|
||||
134
ObsoleteDemos/SerializeDemo/main.cpp
Normal file
134
ObsoleteDemos/SerializeDemo/main.cpp
Normal file
@@ -0,0 +1,134 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2007 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.
|
||||
*/
|
||||
|
||||
#include "SerializeDemo.h"
|
||||
#include "GlutStuff.h"
|
||||
#include "GLDebugDrawer.h"
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
#include "LinearMath/btHashMap.h"
|
||||
#include "btBulletFile.h"
|
||||
#include "CommandLineArguments.h"
|
||||
|
||||
|
||||
#ifdef USE_AMD_OPENCL
|
||||
|
||||
|
||||
|
||||
#include "btOpenCLUtils.h"
|
||||
|
||||
#include <LinearMath/btScalar.h>
|
||||
|
||||
cl_context g_cxMainContext;
|
||||
cl_device_id g_cdDevice;
|
||||
cl_command_queue g_cqCommandQue;
|
||||
|
||||
|
||||
// Returns true if OpenCL is initialized properly, false otherwise.
|
||||
bool initCL( void* glCtx, void* glDC )
|
||||
{
|
||||
const char* vendorSDK = btOpenCLUtils::getSdkVendorName();
|
||||
printf("This program was compiled using the %s OpenCL SDK\n",vendorSDK);
|
||||
|
||||
int ciErrNum = 0;
|
||||
|
||||
#ifdef BT_USE_CLEW
|
||||
ciErrNum = clewInit( "OpenCL.dll" );
|
||||
if ( ciErrNum != CLEW_SUCCESS ) {
|
||||
return false;
|
||||
}
|
||||
#endif
|
||||
|
||||
#if defined(CL_PLATFORM_MINI_CL)
|
||||
cl_device_type deviceType = CL_DEVICE_TYPE_CPU;
|
||||
#elif defined(CL_PLATFORM_AMD)
|
||||
cl_device_type deviceType = CL_DEVICE_TYPE_GPU;
|
||||
#elif defined(CL_PLATFORM_NVIDIA)
|
||||
cl_device_type deviceType = CL_DEVICE_TYPE_GPU;
|
||||
#else
|
||||
cl_device_type deviceType = CL_DEVICE_TYPE_CPU;
|
||||
#endif
|
||||
|
||||
g_cxMainContext = btOpenCLUtils::createContextFromType(deviceType, &ciErrNum, glCtx, glDC);
|
||||
oclCHECKERROR(ciErrNum, CL_SUCCESS);
|
||||
|
||||
int numDev = btOpenCLUtils::getNumDevices(g_cxMainContext);
|
||||
if (!numDev)
|
||||
return false;
|
||||
|
||||
g_cdDevice = btOpenCLUtils::getDevice(g_cxMainContext,0);
|
||||
|
||||
btOpenCLDeviceInfo clInfo;
|
||||
btOpenCLUtils::getDeviceInfo(g_cdDevice,clInfo);
|
||||
btOpenCLUtils::printDeviceInfo(g_cdDevice);
|
||||
|
||||
// create a command-queue
|
||||
g_cqCommandQue = clCreateCommandQueue(g_cxMainContext, g_cdDevice, 0, &ciErrNum);
|
||||
oclCHECKERROR(ciErrNum, CL_SUCCESS);
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
#endif //#ifdef USE_AMD_OPENCL
|
||||
|
||||
|
||||
int main(int argc,char** argv)
|
||||
{
|
||||
CommandLineArguments arg(argc,argv);
|
||||
char* filename=0;
|
||||
arg.GetCmdLineArgument("filename", filename);
|
||||
bool dumpXml = arg.CheckCmdLineFlag("dump_xml");
|
||||
if (!dumpXml && !filename)
|
||||
{
|
||||
printf("There are some optional commandline arguments for this demo:\n");
|
||||
printf("Load another .bullet file instead of testFile.bullet:\n");
|
||||
printf("--filename=testfile.bullet\n");
|
||||
printf("Dump the imported .bullet file to XML\n");
|
||||
printf("--dump_xml\n");
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
GLDebugDrawer gDebugDrawer;
|
||||
#ifdef USE_AMD_OPENCL
|
||||
|
||||
bool initialized = initCL(0,0);
|
||||
btAssert(initialized);
|
||||
#endif //USE_AMD_OPENCL
|
||||
|
||||
|
||||
SerializeDemo serializeDemo;
|
||||
|
||||
int mode = 0;
|
||||
if (dumpXml)
|
||||
mode |=bParse::FD_VERBOSE_EXPORT_XML;
|
||||
if (filename)
|
||||
serializeDemo.setFileName(filename);
|
||||
serializeDemo.setVerboseMode(mode);
|
||||
|
||||
serializeDemo.initPhysics();
|
||||
serializeDemo.getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
|
||||
|
||||
|
||||
#ifdef CHECK_MEMORY_LEAKS
|
||||
serializeDemo.exitPhysics();
|
||||
#else
|
||||
return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bulletphysics.org",&serializeDemo);
|
||||
#endif
|
||||
|
||||
//default glut doesn't return from mainloop
|
||||
return 0;
|
||||
}
|
||||
|
||||
BIN
ObsoleteDemos/SerializeDemo/testFile.bullet
Normal file
BIN
ObsoleteDemos/SerializeDemo/testFile.bullet
Normal file
Binary file not shown.
BIN
ObsoleteDemos/SerializeDemo/testFileCloth.bullet
Normal file
BIN
ObsoleteDemos/SerializeDemo/testFileCloth.bullet
Normal file
Binary file not shown.
Reference in New Issue
Block a user