some demo cleanup, part 0
This commit is contained in:
ejcoumans
@@ -13,62 +13,24 @@ subject to the following restrictions:
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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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#define USE_GROUND_BOX 1
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//#define PRINT_CONTACT_STATISTICS 1
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//#define USE_PARALLEL_DISPATCHER 1
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#define START_POS_X -5
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#define START_POS_Y -5
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#define START_POS_Z -3
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///create 125 (5x5x5) dynamic object
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#define ARRAY_SIZE_X 5
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#define ARRAY_SIZE_Y 5
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#define ARRAY_SIZE_Z 5
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//maximum number of objects (and allow user to shoot additional boxes)
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#define MAX_PROXIES (ARRAY_SIZE_X*ARRAY_SIZE_Y*ARRAY_SIZE_Z + 1024)
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//#define USE_SIMPLE_DYNAMICS_WORLD 1
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#define START_POS_X -5
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#define START_POS_Y -5
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#define START_POS_Z -3
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int gNumObjects = 120;
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#define HALF_EXTENTS btScalar(1.)
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#include "btBulletDynamicsCommon.h"
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#include "BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h"
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#include "LinearMath/btIDebugDraw.h"
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#include "GLDebugDrawer.h"
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#include <stdio.h> //printf debugging
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btScalar deltaTime = btScalar(1./60.);
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#include "BasicDemo.h"
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#include "GL_ShapeDrawer.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 <stdio.h> //printf debugging
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#ifdef USE_PARALLEL_DISPATCHER
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#include "../../Extras/BulletMultiThreaded/SpuGatheringCollisionDispatcher.h"
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#include "../../Extras/BulletMultiThreaded/Win32ThreadSupport.h"
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#include "../../Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h"
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#endif//USE_PARALLEL_DISPATCHER
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#include <LinearMath/btAlignedObjectArray.h>
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////////////////////////////////////
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class myTest
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{
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};
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extern int gNumManifold;
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extern int gOverlappingPairs;
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extern int gTotalContactPoints;
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void BasicDemo::clientMoveAndDisplay()
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{
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@@ -77,24 +39,19 @@ void BasicDemo::clientMoveAndDisplay()
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//simple dynamics world doesn't handle fixed-time-stepping
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float ms = m_clock.getTimeMicroseconds();
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m_clock.reset();
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float minFPS = 1000000.f/60.f;
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if (ms > minFPS)
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ms = minFPS;
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///step the simulation
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if (m_dynamicsWorld)
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{
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m_dynamicsWorld->stepSimulation(ms / 1000000.f);
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//optional but useful: debug drawing
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m_dynamicsWorld->debugDrawWorld();
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}
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renderme();
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glFlush();
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//some additional debugging info
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#ifdef PRINT_CONTACT_STATISTICS
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printf("num manifolds: %i\n",gNumManifold);
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printf("num gOverlappingPairs: %i\n",gOverlappingPairs);
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printf("num gTotalContactPoints : %i\n",gTotalContactPoints );
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#endif //PRINT_CONTACT_STATISTICS
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gTotalContactPoints = 0;
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glutSwapBuffers();
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}
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@@ -107,6 +64,10 @@ void BasicDemo::displayCallback(void) {
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renderme();
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//optional but useful: debug drawing to detect problems
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if (m_dynamicsWorld)
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m_dynamicsWorld->debugDrawWorld();
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glFlush();
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glutSwapBuffers();
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}
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@@ -120,73 +81,29 @@ void BasicDemo::initPhysics()
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setCameraDistance(btScalar(50.));
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///collision configuration contains default setup for memory, collision setup
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m_collisionConfiguration = new btDefaultCollisionConfiguration();
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#ifdef USE_PARALLEL_DISPATCHER
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#ifdef USE_WIN32_THREADING
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int maxNumOutstandingTasks = 4;//number of maximum outstanding tasks
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Win32ThreadSupport* threadSupport = new Win32ThreadSupport(Win32ThreadSupport::Win32ThreadConstructionInfo(
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"collision",
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processCollisionTask,
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createCollisionLocalStoreMemory,
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maxNumOutstandingTasks));
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#else
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///todo other platform threading
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///Playstation 3 SPU (SPURS) version is available through PS3 Devnet
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///Libspe2 SPU support will be available soon
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///pthreads version
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///you can hook it up to your custom task scheduler by deriving from btThreadSupportInterface
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#endif
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m_dispatcher = new SpuGatheringCollisionDispatcher(threadSupport,maxNumOutstandingTasks,collisionConfiguration);
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#else
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///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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#endif //USE_PARALLEL_DISPATCHER
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#define USE_SWEEP_AND_PRUNE 1
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#ifdef USE_SWEEP_AND_PRUNE
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#define maxProxies 8192
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///the maximum size of the collision world. Make sure objects stay within these boundaries
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///Don't make the world AABB size too large, it will harm simulation quality and performance
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btVector3 worldAabbMin(-10000,-10000,-10000);
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btVector3 worldAabbMax(10000,10000,10000);
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m_overlappingPairCache = new btAxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
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#else
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m_overlappingPairCache = new btSimpleBroadphase;
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#endif //USE_SWEEP_AND_PRUNE
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m_overlappingPairCache = new btAxisSweep3(worldAabbMin,worldAabbMax,MAX_PROXIES);
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///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
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btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
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m_solver = sol;
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#ifdef USE_SIMPLE_DYNAMICS_WORLD
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//btSimpleDynamicsWorld doesn't support 'cache friendly' optimization, so disable this
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sol->setSolverMode(btSequentialImpulseConstraintSolver::SOLVER_RANDMIZE_ORDER);
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m_dynamicsWorld = new btSimpleDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_solver,m_collisionConfiguration);
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#else
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m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_solver,m_collisionConfiguration);
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#endif //USE_SIMPLE_DYNAMICS_WORLD
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m_dynamicsWorld->getDispatchInfo().m_enableSPU = true;
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m_dynamicsWorld->setGravity(btVector3(0,-10,0));
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///create a few basic rigid bodies
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//static ground
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#ifdef USE_GROUND_BOX
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btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
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#else
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btCollisionShape* groundShape = new btSphereShape(btScalar(50.));
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#endif//USE_GROUND_BOX
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m_collisionShapes.push_back(groundShape);
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@@ -200,7 +117,7 @@ void BasicDemo::initPhysics()
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btCollisionShape* colShape = new btSphereShape(btScalar(1.));
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m_collisionShapes.push_back(colShape);
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/// Create Dynamic Objects
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/// Create Dynamic Objects
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btTransform startTransform;
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startTransform.setIdentity();
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