added gpudemo
This commit is contained in:
erwin coumans
611
demo/gpudemo/GpuDemo.cpp
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611
demo/gpudemo/GpuDemo.cpp
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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 "btCpuDynamicsWorld.h"
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#include "btGpuDynamicsWorld.h"
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#define SCALING 1.
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#define START_POS_X -5
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#define START_POS_Y 10
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#define START_POS_Z -3
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#include "LinearMath/btVector3.h"
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#include "GpuDemo.h"
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//#include "GlutStuff.h"
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///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
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//#include "btBulletDynamicsCommon.h"
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#include "BulletCollision/CollisionShapes/btTriangleMesh.h"
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#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
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#include "BulletCollision/CollisionShapes/btSphereShape.h"
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#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
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#include "BulletCollision/CollisionShapes/btBoxShape.h"
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#include "BulletCollision/CollisionShapes/btCompoundShape.h"
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#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
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#include "BulletDynamics/Dynamics/btRigidBody.h"
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#include "LinearMath/btDefaultMotionState.h"
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#include "LinearMath/btQuickprof.h"
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#include <stdio.h> //printf debugging
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void GpuDemo::clientMoveAndDisplay()
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{
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// glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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//simple dynamics world doesn't handle fixed-time-stepping
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float dt = getDeltaTimeInSeconds();
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///step the simulation
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if (m_dynamicsWorld)
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{
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static bool once = true;
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if (once)
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{
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once=false;
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btDefaultSerializer* serializer = new btDefaultSerializer();
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m_dynamicsWorld->serialize(serializer);
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FILE* file = fopen("testFile.bullet","wb");
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fwrite(serializer->getBufferPointer(),serializer->getCurrentBufferSize(),1, file);
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fclose(file);
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}
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m_dynamicsWorld->stepSimulation(dt);
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static int count=0;
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count++;
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if (count==25)
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{
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//CProfileManager::dumpAll();
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}
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}
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// renderme();
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//swapBuffers();
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}
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btAlignedObjectArray<btVector3> vertices;
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void EmptyDemo::setupScene(const ConstructionInfo& ci)
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{
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//empty test
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}
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void SpheresDemo::setupScene(const ConstructionInfo& ci)
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{
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if (1)
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{
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btSphereShape* sphere = new btSphereShape(1);
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m_collisionShapes.push_back(sphere);
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/// Create Dynamic Objects
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btTransform startTransform;
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startTransform.setIdentity();
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float start_x = START_POS_X - ci.gapX*ci.arraySizeX/2;
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float start_y = START_POS_Y;
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float start_z = START_POS_Z - ci.gapZ*ci.arraySizeZ/2;
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for (int k=0;k<ci.arraySizeY;k++)
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{
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int sizeX = ci.arraySizeX;
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int startX = -sizeX/2;
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float gapX = ci.gapX;
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for (int i=0;i<sizeX;i++)
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{
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int sizeZ = ci.arraySizeZ;
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int startZ = -sizeX/2;
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float gapZ =ci.gapZ;
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for(int j = 0;j<sizeZ;j++)
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{
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//btCollisionShape* shape = k==0? boxShape : colShape;
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btCollisionShape* shape = sphere;
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btScalar mass = 1;
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if (!ci.m_useConcaveMesh && k==0)
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mass = k==0? 0.f : 1.f;
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//rigidbody is dynamic if and only if mass is non zero, otherwise static
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bool isDynamic = (mass != 0.f);
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btVector3 localInertia(0,0,0);
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if (isDynamic)
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shape->calculateLocalInertia(mass,localInertia);
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startTransform.setOrigin(SCALING*btVector3(
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btScalar(gapX*i + start_x),
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btScalar(ci.gapY*k + start_y),
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btScalar(gapZ*j + start_z)));
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//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
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btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,shape,localInertia);
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btRigidBody* body = new btRigidBody(rbInfo);
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m_dynamicsWorld->addRigidBody(body);
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}
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}
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}
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}
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{
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btVector3 planeNormal(0,1,0);
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btScalar planeConstant=0;
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btCollisionShape* shape = new btStaticPlaneShape(planeNormal,planeConstant);
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//btBoxShape* plane = new btBoxShape(btVector3(100,1,100));
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//plane->initializePolyhedralFeatures();
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//btSphereShape* shape = new btSphereShape(1000);
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btScalar mass(0.);
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//rigidbody is dynamic if and only if mass is non zero, otherwise static
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bool isDynamic = (mass != 0.f);
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btVector3 localInertia(0,0,0);
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btTransform groundTransform;
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groundTransform.setIdentity();
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groundTransform.setRotation(btQuaternion(btVector3(1,0,0),0.3));
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groundTransform.setOrigin(btVector3(0,0,0));
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//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
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btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,shape,localInertia);
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btRigidBody* body = new btRigidBody(rbInfo);
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//add the body to the dynamics world
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m_dynamicsWorld->addRigidBody(body);
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}
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}
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void GpuCompoundDemo::setupScene(const ConstructionInfo& ci)
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{
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btCollisionShape* groundShape =0;
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// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
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if (ci.m_useConcaveMesh)
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{
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btTriangleMesh* meshInterface = new btTriangleMesh();
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btAlignedObjectArray<btVector3> concaveVertices;
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concaveVertices.push_back(btVector3(0,-20,0));
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concaveVertices.push_back(btVector3(80,10,80));
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concaveVertices.push_back(btVector3(80,10,-80));
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concaveVertices.push_back(btVector3(-80,10,-80));
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concaveVertices.push_back(btVector3(-80,10,80));
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meshInterface->addTriangle(concaveVertices[0],concaveVertices[1],concaveVertices[2],true);
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meshInterface->addTriangle(concaveVertices[0],concaveVertices[2],concaveVertices[3],true);
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meshInterface->addTriangle(concaveVertices[0],concaveVertices[3],concaveVertices[4],true);
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meshInterface->addTriangle(concaveVertices[0],concaveVertices[4],concaveVertices[1],true);
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#if 0
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groundShape = new btBvhTriangleMeshShape(meshInterface,true);//btStaticPlaneShape(btVector3(0,1,0),50);
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#else
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btBoxShape* shape =new btBoxShape(btVector3(btScalar(250.),btScalar(10.),btScalar(250.)));
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shape->initializePolyhedralFeatures();
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groundShape = shape;
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#endif
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} else
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{
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groundShape = new btBoxShape(btVector3(btScalar(250.),btScalar(50.),btScalar(250.)));
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}
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m_collisionShapes.push_back(groundShape);
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btTransform groundTransform;
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groundTransform.setIdentity();
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groundTransform.setOrigin(btVector3(0,0,0));
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//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
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if (ci.m_useConcaveMesh)
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{
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btScalar mass(0.);
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//rigidbody is dynamic if and only if mass is non zero, otherwise static
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bool isDynamic = (mass != 0.f);
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btVector3 localInertia(0,0,0);
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if (isDynamic)
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groundShape->calculateLocalInertia(mass,localInertia);
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//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
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btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
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btRigidBody* body = new btRigidBody(rbInfo);
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//add the body to the dynamics world
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m_dynamicsWorld->addRigidBody(body);
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}
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{
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//create a few dynamic rigidbodies
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// Re-using the same collision is better for memory usage and performance
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//vertices.push_back(btVector3(0,1,0));
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vertices.push_back(btVector3(1,1,1));
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vertices.push_back(btVector3(1,1,-1));
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vertices.push_back(btVector3(-1,1,-1));
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vertices.push_back(btVector3(-1,1,1));
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vertices.push_back(btVector3(1,-1,1));
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vertices.push_back(btVector3(1,-1,-1));
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vertices.push_back(btVector3(-1,-1,-1));
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vertices.push_back(btVector3(-1,-1,1));
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#if 0
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btPolyhedralConvexShape* colShape = new btConvexHullShape(&vertices[0].getX(),vertices.size());
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colShape->initializePolyhedralFeatures();
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#else
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btCompoundShape* compoundShape = 0;
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{
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btPolyhedralConvexShape* colShape = new btConvexHullShape(&vertices[0].getX(),vertices.size());
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colShape->initializePolyhedralFeatures();
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compoundShape = new btCompoundShape();
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btTransform tr;
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tr.setIdentity();
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tr.setOrigin(btVector3(0,-1,0));
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compoundShape->addChildShape(tr,colShape);
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tr.setOrigin(btVector3(0,0,2));
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compoundShape->addChildShape(tr,colShape);
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tr.setOrigin(btVector3(2,0,0));
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compoundShape->addChildShape(tr,colShape);
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}
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btCollisionShape* colShape = compoundShape;
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#endif
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btPolyhedralConvexShape* boxShape = new btBoxShape(btVector3(SCALING*1,SCALING*1,SCALING*1));
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boxShape->initializePolyhedralFeatures();
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//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
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m_collisionShapes.push_back(colShape);
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m_collisionShapes.push_back(boxShape);
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/// Create Dynamic Objects
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btTransform startTransform;
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startTransform.setIdentity();
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float start_x = START_POS_X - ci.arraySizeX/2;
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float start_y = START_POS_Y;
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float start_z = START_POS_Z - ci.arraySizeZ/2;
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for (int k=0;k<ci.arraySizeY;k++)
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{
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int sizeX = ci.arraySizeX;
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if (!ci.m_useConcaveMesh && k==0)
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sizeX = 50;
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int startX = !ci.m_useConcaveMesh&&k==0? -20 : 0;
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float gapX = !ci.m_useConcaveMesh&&k==0? 3.05 : ci.gapX;
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for (int i=0;i<sizeX;i++)
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{
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int sizeZ = !ci.m_useConcaveMesh&&k==0? 50 : ci.arraySizeZ;
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int startZ = (!ci.m_useConcaveMesh)&&k==0? -20 : 0;
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float gapZ = !ci.m_useConcaveMesh&&k==0? 3.05 : ci.gapZ;
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for(int j = 0;j<sizeZ;j++)
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{
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//btCollisionShape* shape = k==0? boxShape : colShape;
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btCollisionShape* shape = colShape;
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btScalar mass = 1;
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if (!ci.m_useConcaveMesh && k==0)
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mass = k==0? 0.f : 1.f;
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//rigidbody is dynamic if and only if mass is non zero, otherwise static
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bool isDynamic = (mass != 0.f);
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btVector3 localInertia(0,0,0);
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if (isDynamic)
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shape->calculateLocalInertia(mass,localInertia);
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startTransform.setOrigin(SCALING*btVector3(
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btScalar(startX+gapX*i + start_x),
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btScalar(20+ci.gapY*k + start_y),
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btScalar(startZ+gapZ*j + start_z)));
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//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
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btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,shape,localInertia);
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btRigidBody* body = new btRigidBody(rbInfo);
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m_dynamicsWorld->addRigidBody(body);
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}
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}
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}
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}
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}
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void GpuBoxDemo::setupScene(const ConstructionInfo& ci)
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{
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btCollisionShape* groundShape =0;
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// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
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if (ci.m_useConcaveMesh)
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{
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btTriangleMesh* meshInterface = new btTriangleMesh();
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btAlignedObjectArray<btVector3> concaveVertices;
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concaveVertices.push_back(btVector3(0,-20,0));
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concaveVertices.push_back(btVector3(80,10,80));
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concaveVertices.push_back(btVector3(80,10,-80));
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concaveVertices.push_back(btVector3(-80,10,-80));
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concaveVertices.push_back(btVector3(-80,10,80));
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meshInterface->addTriangle(concaveVertices[0],concaveVertices[1],concaveVertices[2],true);
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meshInterface->addTriangle(concaveVertices[0],concaveVertices[2],concaveVertices[3],true);
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meshInterface->addTriangle(concaveVertices[0],concaveVertices[3],concaveVertices[4],true);
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meshInterface->addTriangle(concaveVertices[0],concaveVertices[4],concaveVertices[1],true);
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#if 0
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groundShape = new btBvhTriangleMeshShape(meshInterface,true);//btStaticPlaneShape(btVector3(0,1,0),50);
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#else
|
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btBoxShape* shape =new btBoxShape(btVector3(btScalar(250.),btScalar(10.),btScalar(250.)));
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shape->initializePolyhedralFeatures();
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groundShape = shape;
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#endif
|
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|
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} else
|
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{
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groundShape = new btBoxShape(btVector3(btScalar(250.),btScalar(50.),btScalar(250.)));
|
||||
}
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m_collisionShapes.push_back(groundShape);
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btTransform groundTransform;
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groundTransform.setIdentity();
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groundTransform.setOrigin(btVector3(0,0,0));
|
||||
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||||
//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
|
||||
if (ci.m_useConcaveMesh)
|
||||
{
|
||||
btScalar mass(0.);
|
||||
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||||
//rigidbody is dynamic if and only if mass is non zero, otherwise static
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||||
bool isDynamic = (mass != 0.f);
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btVector3 localInertia(0,0,0);
|
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if (isDynamic)
|
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groundShape->calculateLocalInertia(mass,localInertia);
|
||||
|
||||
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
|
||||
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
|
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
|
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btRigidBody* body = new btRigidBody(rbInfo);
|
||||
|
||||
//add the body to the dynamics world
|
||||
m_dynamicsWorld->addRigidBody(body);
|
||||
}
|
||||
|
||||
|
||||
{
|
||||
//create a few dynamic rigidbodies
|
||||
// Re-using the same collision is better for memory usage and performance
|
||||
|
||||
//vertices.push_back(btVector3(0,1,0));
|
||||
vertices.push_back(btVector3(1,1,1));
|
||||
vertices.push_back(btVector3(1,1,-1));
|
||||
vertices.push_back(btVector3(-1,1,-1));
|
||||
vertices.push_back(btVector3(-1,1,1));
|
||||
vertices.push_back(btVector3(1,-1,1));
|
||||
vertices.push_back(btVector3(1,-1,-1));
|
||||
vertices.push_back(btVector3(-1,-1,-1));
|
||||
vertices.push_back(btVector3(-1,-1,1));
|
||||
|
||||
#if 1
|
||||
btPolyhedralConvexShape* colShape = new btConvexHullShape(&vertices[0].getX(),vertices.size());
|
||||
colShape->initializePolyhedralFeatures();
|
||||
#else
|
||||
btCompoundShape* compoundShape = 0;
|
||||
{
|
||||
btPolyhedralConvexShape* colShape = new btConvexHullShape(&vertices[0].getX(),vertices.size());
|
||||
colShape->initializePolyhedralFeatures();
|
||||
compoundShape = new btCompoundShape();
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(0,-1,0));
|
||||
compoundShape->addChildShape(tr,colShape);
|
||||
tr.setOrigin(btVector3(0,0,2));
|
||||
compoundShape->addChildShape(tr,colShape);
|
||||
tr.setOrigin(btVector3(2,0,0));
|
||||
compoundShape->addChildShape(tr,colShape);
|
||||
}
|
||||
btCollisionShape* colShape = compoundShape;
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
btPolyhedralConvexShape* boxShape = new btBoxShape(btVector3(SCALING*1,SCALING*1,SCALING*1));
|
||||
boxShape->initializePolyhedralFeatures();
|
||||
|
||||
|
||||
|
||||
|
||||
//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
|
||||
m_collisionShapes.push_back(colShape);
|
||||
m_collisionShapes.push_back(boxShape);
|
||||
|
||||
/// Create Dynamic Objects
|
||||
btTransform startTransform;
|
||||
startTransform.setIdentity();
|
||||
|
||||
|
||||
|
||||
float start_x = START_POS_X - ci.arraySizeX/2;
|
||||
float start_y = START_POS_Y;
|
||||
float start_z = START_POS_Z - ci.arraySizeZ/2;
|
||||
|
||||
for (int k=0;k<ci.arraySizeY;k++)
|
||||
{
|
||||
int sizeX = ci.arraySizeX;
|
||||
if (!ci.m_useConcaveMesh && k==0)
|
||||
sizeX = 50;
|
||||
|
||||
int startX = !ci.m_useConcaveMesh&&k==0? -20 : 0;
|
||||
float gapX = !ci.m_useConcaveMesh&&k==0? 3.05 : ci.gapX;
|
||||
for (int i=0;i<sizeX;i++)
|
||||
{
|
||||
int sizeZ = !ci.m_useConcaveMesh&&k==0? 50 : ci.arraySizeZ;
|
||||
int startZ = (!ci.m_useConcaveMesh)&&k==0? -20 : 0;
|
||||
float gapZ = !ci.m_useConcaveMesh&&k==0? 3.05 : ci.gapZ;
|
||||
for(int j = 0;j<sizeZ;j++)
|
||||
{
|
||||
//btCollisionShape* shape = k==0? boxShape : colShape;
|
||||
|
||||
btCollisionShape* shape = colShape;
|
||||
|
||||
|
||||
btScalar mass = 1;
|
||||
if (!ci.m_useConcaveMesh && k==0)
|
||||
mass = k==0? 0.f : 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)
|
||||
shape->calculateLocalInertia(mass,localInertia);
|
||||
|
||||
startTransform.setOrigin(SCALING*btVector3(
|
||||
btScalar(startX+gapX*i + start_x),
|
||||
btScalar(ci.gapY*(k+0.5) + start_y),
|
||||
btScalar(startZ+gapZ*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,shape,localInertia);
|
||||
btRigidBody* body = new btRigidBody(rbInfo);
|
||||
|
||||
|
||||
m_dynamicsWorld->addRigidBody(body);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void GpuDemo::initPhysics(const ConstructionInfo& ci)
|
||||
{
|
||||
|
||||
// setTexturing(true);
|
||||
//setShadows(false);
|
||||
|
||||
// setCameraDistance(btScalar(SCALING*250.));
|
||||
|
||||
///collision configuration contains default setup for memory, collision setup
|
||||
if (ci.useOpenCL)
|
||||
{
|
||||
m_dynamicsWorld = new btGpuDynamicsWorld(ci.preferredOpenCLPlatformIndex,ci.preferredOpenCLDeviceIndex);
|
||||
} else
|
||||
{
|
||||
m_dynamicsWorld = new btCpuDynamicsWorld();
|
||||
}
|
||||
|
||||
|
||||
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
|
||||
|
||||
///create a few basic rigid bodies
|
||||
|
||||
setupScene(ci);
|
||||
|
||||
|
||||
}
|
||||
|
||||
/*void GpuDemo::clientResetScene()
|
||||
{
|
||||
exitPhysics();
|
||||
initPhysics();
|
||||
}
|
||||
*/
|
||||
|
||||
|
||||
void GpuDemo::exitPhysics()
|
||||
{
|
||||
|
||||
//cleanup in the reverse order of creation/initialization
|
||||
|
||||
//remove the rigidbodies from the dynamics world and delete them
|
||||
int i;
|
||||
if (m_dynamicsWorld)
|
||||
{
|
||||
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;
|
||||
m_dynamicsWorld=0;
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user