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add Bullet 2.x constraint solver tests for hinge, with large mass ratio

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experiment with Midi controls in PairBenchmark to tune variables (will move it into a utility class, so every demo can easier use it in the future)
fix issue with broadphase, not initializing all pairs properly at pair array overflow
This commit is contained in:
Erwin Coumans
2014-01-28 10:25:04 -08:00
parent e3ee9e5b2e
commit 71f0537c6e
20 changed files with 719 additions and 38 deletions
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22
Demos3/GpuDemos/rigidbody/GpuRigidBodyDemo.cpp
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@@ -19,12 +19,13 @@
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
#include "Bullet3OpenCL/RigidBody/b3GpuNarrowPhaseInternalData.h"
#include "OpenGLWindow/GLPrimitiveRenderer.h"
static b3KeyboardCallback oldCallback = 0;
extern bool gReset;
bool useUniformGrid = false;
bool convertOnCpu = false;
static bool sShowShadowMap = true;
#define MSTRINGIFY(A) #A
static const char* s_rigidBodyKernelString = MSTRINGIFY(
@@ -103,7 +104,7 @@ void GpuRigidBodyDemo::initPhysics(const ConstructionInfo& ci)
}
m_instancingRenderer = ci.m_instancingRenderer;
m_primRenderer = ci.m_primRenderer;
initCL(ci.preferredOpenCLDeviceIndex,ci.preferredOpenCLPlatformIndex);
if (m_clData->m_clContext)
@@ -175,6 +176,23 @@ void GpuRigidBodyDemo::exitPhysics()
void GpuRigidBodyDemo::renderScene()
{
m_instancingRenderer->renderScene();
if (sShowShadowMap)
{
glDisable(GL_DEPTH_TEST);
float borderColor[4]={0,0,0,1};
m_primRenderer->drawRect(9,29,191,211,borderColor);
float color[4]={1,1,1,1};
//m_shadowData->m_instancingRenderer->renderScene();
m_instancingRenderer->enableShadowMap();
glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_COMPARE_MODE, GL_NONE );
// glTexParameteri( GL_TEXTURE_2D, GL_DEPTH_TEXTURE_MODE, GL_LUMINANCE );
m_primRenderer->drawTexturedRect(10,30,190,210,color,0,0,1,1,true);
glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_COMPARE_MODE, GL_COMPARE_REF_TO_TEXTURE);
glEnable(GL_DEPTH_TEST);
}
}
void GpuRigidBodyDemo::clientMoveAndDisplay()

1
Demos3/GpuDemos/rigidbody/GpuRigidBodyDemo.h
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@@ -8,6 +8,7 @@ class GpuRigidBodyDemo : public GpuDemo
{
protected:
class GLInstancingRenderer* m_instancingRenderer;
class GLPrimitiveRenderer* m_primRenderer;
class b3gWindowInterface* m_window;
struct GpuRigidBodyDemoInternalData* m_data;