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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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21
Demos3/bullet2/BasicDemo/BasicDemo.cpp
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@@ -1,9 +1,13 @@
#include "BasicDemo.h"
#include "OpenGLWindow/SimpleOpenGL3App.h"
#include "btBulletDynamicsCommon.h"
#include "Bullet3Common/b3Vector3.h"
#include "LinearMath/btVector3.h"
#include "BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.h"
#define ARRAY_SIZE_X 5
#define ARRAY_SIZE_Y 5
#define ARRAY_SIZE_Z 5
@@ -68,12 +72,12 @@ void BasicDemo::initPhysics()
{
float halfExtents[]={scaling,scaling,scaling,1};
b3Vector4 colors[4] =
btVector4 colors[4] =
{
b3MakeVector4(1,0,0,1),
b3MakeVector4(0,1,0,1),
b3MakeVector4(0,1,1,1),
b3MakeVector4(1,1,0,1),
btVector4(1,0,0,1),
btVector4(0,1,0,1),
btVector4(0,1,1,1),
btVector4(1,1,0,1),
};
@@ -92,7 +96,7 @@ void BasicDemo::initPhysics()
for(int j = 0;j<ARRAY_SIZE_Z;j++)
{
b3Vector4 color = colors[curColor];
btVector4 color = colors[curColor];
curColor++;
curColor&=3;
startTransform.setOrigin(btVector3(
@@ -142,3 +146,6 @@ void BasicDemo::stepSimulation(float dt)
{
m_dynamicsWorld->stepSimulation(dt);
}