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integrated StressTest into BasicDemo.

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This commit is contained in:
ejcoumans
2007-10-14 00:03:10 +00:00
parent ea3dfb4ca3
commit 715611060d
4 changed files with 46 additions and 504 deletions
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56
Demos/BasicDemo/BasicDemo.cpp
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@@ -19,6 +19,16 @@ subject to the following restrictions:
//#define CHECK_MEMORY_LEAKS 1
//#define USE_PARALLEL_DISPATCHER 1
#define START_POS_X -5
#define START_POS_Y -5
#define START_POS_Z -3
///create 1000 (10x10x10) dynamic objects
#define ARRAY_SIZE_X 10
#define ARRAY_SIZE_Y 10
#define ARRAY_SIZE_Z 10
//#define USE_SIMPLE_DYNAMICS_WORLD 1
@@ -201,34 +211,42 @@ void BasicDemo::initPhysics()
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-50,0));
groundTransform.setOrigin(btVector3(0,-56,0));
localCreateRigidBody(btScalar(0.),groundTransform,groundShape);
//create a few dynamic sphere rigidbodies (re-using the same sphere shape)
//btCollisionShape* sphereShape = new btBoxShape(btVector3(1,1,1));
btCollisionShape* sphereShape = new btSphereShape(btScalar(1.));
m_collisionShapes.push_back(sphereShape);
btCollisionShape* colShape = new btSphereShape(btScalar(1.));
m_collisionShapes.push_back(colShape);
/// Create Dynamic Objects
btTransform startTransform;
startTransform.setIdentity();
int i;
for (i=0;i<gNumObjects;i++)
{
sphereShape->setMargin(gCollisionMargin);
btTransform trans;
trans.setIdentity();
//stack them
int colsize = 2;
int row = (int)((i*HALF_EXTENTS*2)/(colsize*2*HALF_EXTENTS));
int row2 = row;
int col = (i)%(colsize)-colsize/2;
btVector3 pos(col*2*HALF_EXTENTS + (row2%2)*HALF_EXTENTS,
row*2*HALF_EXTENTS+HALF_EXTENTS,0);
trans.setOrigin(pos);
//btRigidBody* body = localCreateRigidBody(btScalar(1.),trans,sphereShape);
localCreateRigidBody(btScalar(1.),trans,sphereShape);
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(btVector3(
2.0*i + start_x,
2.0*k + start_y,
2.0*j + start_z));
localCreateRigidBody(1, startTransform,colShape);
}
}
}
}
clientResetScene();
}

377
Demos/StressTest/StressTestDemo.cpp
View File

@@ -1,377 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btBulletDynamicsCommon.h"
#include "StressTestDemo.h"
#define SHOW_NUM_DEEP_PENETRATIONS
#include "LinearMath/btDefaultMotionState.h"
#include "LinearMath/btIDebugDraw.h"
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btDefaultMotionState.h"
#include "BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h"
#include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h"
//#define REGISTER_BOX_BOX 1
#ifdef REGISTER_BOX_BOX
#include "../Extras/AlternativeCollisionAlgorithms/BoxBoxCollisionAlgorithm.h"
#endif //REGISTER_BOX_BOX
//#define SHOW_MEMORY_DETAILS 1
//#ifdef SHOW_MEMORY_DETAILS
// #include "LinearMath/btGenericPoolAllocator.h"
//#endif
/// Including GIMPACT here
#include "BMF_Api.h"
#include "GLDebugDrawer.h"
#include "GL_ShapeDrawer.h"
#include "GlutStuff.h"
#ifdef SHOW_NUM_DEEP_PENETRATIONS
extern int gNumDeepPenetrationChecks;
extern int gNumGjkChecks;
#endif //
GLDebugDrawer debugDrawer;
//Real dts = 0.000001f;
btScalar dts = 1.0 / 60.0;
///**************************************************************************************
/// GIMPACT Test Demo made by DevO
///
///**************************************************************************************
//------------------------------------------------------------------------------
///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback;
inline btScalar calculateCombinedFriction(float friction0,float friction1)
{
btScalar friction = friction0 * friction1;
const btScalar MAX_FRICTION = 10.f;
if (friction < -MAX_FRICTION)
friction = -MAX_FRICTION;
if (friction > MAX_FRICTION)
friction = MAX_FRICTION;
return friction;
}
//------------------------------------------------------------------------------
inline btScalar calculateCombinedRestitution(float restitution0,float restitution1)
{
return restitution0 * restitution1;
}
//------------------------------------------------------------------------------
bool CustomMaterialCombinerCallback(btManifoldPoint& cp, const btCollisionObject* colObj0,int partId0,int index0,const btCollisionObject* colObj1,int partId1,int index1)
{
float friction0 = colObj0->getFriction();
float friction1 = colObj1->getFriction();
float restitution0 = colObj0->getRestitution();
float restitution1 = colObj1->getRestitution();
if (colObj0->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)
{
friction0 = 1.0;//partId0,index0
restitution0 = 0.f;
}
if (colObj1->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)
{
if (index1&1)
{
friction1 = 1.0f;//partId1,index1
} else
{
friction1 = 0.f;
}
restitution1 = 0.f;
}
cp.m_combinedFriction = calculateCombinedFriction(friction0,friction1);
cp.m_combinedRestitution = calculateCombinedRestitution(restitution0,restitution1);
//this return value is currently ignored, but to be on the safe side: return false if you don't calculate friction
return true;
}
extern ContactAddedCallback gContactAddedCallback;
//################################## main #####################################
int main(int argc,char** argv)
{
//gContactAddedCallback = CustomMaterialCombinerCallback;
int sizeofbp = sizeof(btBroadphaseProxy);
StressTestDemo* concaveDemo = new StressTestDemo(); /// This will not be Deleted!!!
concaveDemo->initPhysics();
concaveDemo->setCameraDistance(45.f);
//cannot run stepFront yet, the OpenGL context is not opened (stepFront updates camera...)
// concaveDemo->stepFront();
// concaveDemo->stepFront();
// concaveDemo->stepFront();
// concaveDemo->stepFront();
return glutmain(argc, argv,640,480,"DevO,s GIMPACT Test Demo",concaveDemo);
}
//--------------------------
//------------------------------------------------------------------------------
void StressTestDemo::initPhysics()
{
/// Init Bullet
m_collisionConfiguration = new btDefaultCollisionConfiguration();
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
#ifdef REGISTER_BOX_BOX
m_dispatcher->registerCollisionCreateFunc(BOX_SHAPE_PROXYTYPE,BOX_SHAPE_PROXYTYPE,new BoxBoxCollisionAlgorithm::CreateFunc);
#endif //REGISTER_BOX_BOX
LONG maxProxies = 4096;
btVector3 worldAabbMin(-1000,-1000,-1000);
btVector3 worldAabbMax( 1000, 1000, 1000);
m_broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
//m_broadphase = new btMultiSapBroadphase();
//m_broadphase = new btSimpleBroadphase();
btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver();;
m_constraintSolver = solver;
btDiscreteDynamicsWorld* world = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_constraintSolver);
world->getSolverInfo().m_numIterations = 4;
// solver->setSolverMode(btSequentialImpulseConstraintSolver::SOLVER_CACHE_FRIENDLY);//btSequentialImpulseConstraintSolver::SOLVER_RANDMIZE_ORDER);
// solver->setSolverMode(btSequentialImpulseConstraintSolver::SOLVER_RANDMIZE_ORDER);
m_dynamicsWorld = world;
m_dynamicsWorld->setDebugDrawer(&debugDrawer);
// register algorithm
if(0)
{
m_spheresphere_collisionCreateFunc = new btSphereSphereCollisionAlgorithm::CreateFunc; /// NEW
m_dispatcher->registerCollisionCreateFunc(SPHERE_SHAPE_PROXYTYPE,SPHERE_SHAPE_PROXYTYPE,m_spheresphere_collisionCreateFunc);
m_spherebox_collisionCreateFunc = new btSphereBoxCollisionAlgorithm::CreateFunc;
m_dispatcher->registerCollisionCreateFunc(SPHERE_SHAPE_PROXYTYPE,BOX_SHAPE_PROXYTYPE,m_spherebox_collisionCreateFunc);
m_dispatcher->registerCollisionCreateFunc(SPHERE_SHAPE_PROXYTYPE,BOX_SHAPE_PROXYTYPE,m_spherebox_collisionCreateFunc);
}
//create trimesh model and shape
/// Create Scene
float mass = 0.f;
btTransform startTransform;
startTransform.setIdentity();
btCollisionShape* staticboxShape1 = new btBoxShape(btVector3(20,1,20));//floor
btCollisionShape* staticboxShape2 = new btBoxShape(btVector3(1,50,200));//left wall
btCollisionShape* staticboxShape3 = new btBoxShape(btVector3(1,50,200));//right wall
btCollisionShape* staticboxShape4 = new btBoxShape(btVector3(200,50,1));//front wall
btCollisionShape* staticboxShape5 = new btBoxShape(btVector3(200,50,1));//back wall
#ifdef USE_COMPOUND
btCompoundShape* staticScenario = new btCompoundShape();//static scenario
startTransform.setOrigin(btVector3(0,-10,0));
staticScenario->addChildShape(startTransform,staticboxShape1);
startTransform.setOrigin(btVector3(-200,15,0));
staticScenario->addChildShape(startTransform,staticboxShape2);
startTransform.setOrigin(btVector3(200,15,0));
staticScenario->addChildShape(startTransform,staticboxShape3);
startTransform.setOrigin(btVector3(0,15,200));
staticScenario->addChildShape(startTransform,staticboxShape4);
startTransform.setOrigin(btVector3(0,15,-200));
staticScenario->addChildShape(startTransform,staticboxShape5);
startTransform.setOrigin(btVector3(0,0,0));
btRigidBody* staticBody = localCreateRigidBody(mass, startTransform,staticScenario);
#else
startTransform.setOrigin(btVector3(0,-7,0));//;//-10,0));
btRigidBody* staticBody = localCreateRigidBody(mass, startTransform,staticboxShape1);
/*startTransform.setOrigin(btVector3(-200,15,0));
staticBody = localCreateRigidBody(mass, startTransform,staticboxShape2);
startTransform.setOrigin(btVector3(200,15,0));
staticBody = localCreateRigidBody(mass, startTransform,staticboxShape3);
startTransform.setOrigin(btVector3(0,15,200));
staticBody = localCreateRigidBody(mass, startTransform,staticboxShape4);
startTransform.setOrigin(btVector3(0,15,-200));
staticBody = localCreateRigidBody(mass, startTransform,staticboxShape5);
*/
#endif //USE_COMPOUND
//enable custom material callback
// staticBody->setCollisionFlags(staticBody->getCollisionFlags()|btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
startTransform.setIdentity();
btCollisionShape* sphShape = new btSphereShape(1);
btScalar radii[1] = {btScalar(1)};
btVector3 poss[1]={btVector3(0,0,0)};
// btCollisionShape* sphShape = new btMultiSphereShape(btVector3(1,1,1),&poss[0],&radii[0],1);
btScalar margin(0.04);
btCollisionShape* boxShape = new btBoxShape(btVector3(1,1,1));//1.-margin,1.-margin,1.-margin));
boxShape->setMargin(margin);
/// Create Dynamic Boxes
{
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(btVector3(
2.0*i + start_x,
2.0*k + start_y,
2.0*j + start_z));
#ifdef SPHERES
localCreateRigidBody(1, startTransform,sphShape);
#else
localCreateRigidBody(1, startTransform,boxShape);
#endif
}
}
}
}
//m_debugMode |= btIDebugDraw::DBG_DrawWireframe;
}
//------------------------------------------------------------------------------
void StressTestDemo::clientMoveAndDisplay()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
int start, end;
start = glutGet(GLUT_ELAPSED_TIME);
float dt = float(m_clock.getTimeMicroseconds()) * 0.000001f;
m_clock.reset();
m_dynamicsWorld->stepSimulation(dt,1);
m_steps_done++;
end = glutGet(GLUT_ELAPSED_TIME);
printf("Time %d \n", end-start);
renderme();
glFlush();
glutSwapBuffers();
}
//------------------------------------------------------------------------------
void StressTestDemo::displayCallback(void) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
renderme();
glFlush();
glutSwapBuffers();
}
//------------------------------------------------------------------------------
void StressTestDemo::clientResetScene()
{
m_steps_done = 0;
DemoApplication::clientResetScene();
}
#define KEY_ESCAPE 0x1B
//------------------------------------------------------------------------------
void StressTestDemo::keyboardCallback(unsigned char key, int x, int y)
{
switch (key)
{
case '.':
{
break;
}
case '2':
{
dts += 0.000001f;
break;
}
case '3':
{
dts -= 0.000001f; if(dts<0.000001f) dts = 0.000001f;
break;
}
default:
DemoApplication::keyboardCallback(key, x, y);
}
}

99
Demos/StressTest/StressTestDemo.h
View File

@@ -1,99 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef TEST_CONCAVE_DEMO_H
#define TEST_CONCAVE_DEMO_H
#include "DemoApplication.h"
struct btCollisionAlgorithmCreateFunc;
///StressTestDemo shows usage of static concave triangle meshes
///It also shows per-triangle material (friction/restitution) through CustomMaterialCombinerCallback
class StressTestDemo : public DemoApplication
{
public:
StressTestDemo()
: m_collisionConfiguration(NULL),
m_dispatcher(NULL),
m_broadphase(NULL),
m_constraintSolver(NULL),
m_steps_done(0),
m_spheresphere_collisionCreateFunc(0),
m_spherebox_collisionCreateFunc(0)
{
}
virtual ~StressTestDemo()
{
delete m_spheresphere_collisionCreateFunc;
delete m_spherebox_collisionCreateFunc;
delete m_collisionConfiguration;
delete m_dispatcher;
delete m_broadphase;
delete m_constraintSolver;
delete m_dynamicsWorld;
}
void initGImpactCollision();
void initPhysics();
virtual void clientMoveAndDisplay();
virtual void displayCallback();
virtual void clientResetScene();
virtual void keyboardCallback(unsigned char key, int x, int y);
public: ///data
unsigned int m_steps_done;
btVector3 kinTorusTran;
btQuaternion kinTorusRot;
btRigidBody *kinematicTorus;
btCollisionAlgorithmCreateFunc* m_spheresphere_collisionCreateFunc;
btCollisionAlgorithmCreateFunc* m_spherebox_collisionCreateFunc;
btDefaultCollisionConfiguration* m_collisionConfiguration;
btCollisionDispatcher* m_dispatcher;
btBroadphaseInterface* m_broadphase;
btConstraintSolver* m_constraintSolver;
};
#define SPHERES 1
#define START_POS_X -5
#define START_POS_Y -5
#define START_POS_Z -3
#define ARRAY_SIZE_X 10
#define ARRAY_SIZE_Y 10
#define ARRAY_SIZE_Z 10
#endif //CONCAVE_DEMO_H

18
src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
View File

@@ -43,25 +43,25 @@ m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.))
case 0:
{
halfExtents.setValue(
m_maxHeight,
m_width,
m_length);
btScalar(m_maxHeight),
btScalar(m_width),
btScalar(m_length));
break;
}
case 1:
{
halfExtents.setValue(
m_width,
m_maxHeight,
m_length);
btScalar(m_width),
btScalar(m_maxHeight),
btScalar(m_length));
break;
};
case 2:
{
halfExtents.setValue(
m_width,
m_length,
m_maxHeight
btScalar(m_width),
btScalar(m_length),
btScalar(m_maxHeight)
);
break;
}