some demo cleanup, part 0

Demos/BasicDemo/BasicDemo.cpp

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

Demos/ConcaveConvexcastDemo/ConcaveConvexcastDemo.cpp

@@ -21,15 +21,6 @@ subject to the following restrictions:
 #include "GL_ShapeDrawer.h"
 #include "GlutStuff.h"
 
-//#define USE_PARALLEL_DISPATCHER 1
-#ifdef USE_PARALLEL_DISPATCHER
-#include "../../Extras/BulletMultiThreaded/SpuGatheringCollisionDispatcher.h"
-#include "../../Extras/BulletMultiThreaded/Win32ThreadSupport.h"
-#include "../../Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h"
-#endif//USE_PARALLEL_DISPATCHER
-
-
-
 
 static btVector3*	gVertices=0;
 static int*	gIndices=0;
@@ -226,64 +217,13 @@ public:
 
 static btConvexcastBatch convexcastBatch;
 
-///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;
-}
 
 
 
-static bool CustomMaterialCombinerCallback(btManifoldPoint& cp,	const btCollisionObject* colObj0,int partId0,int index0,const btCollisionObject* colObj1,int partId1,int index1)
-{
 
-	float friction0 = colObj0->getFriction();
+const int NUM_VERTS_X = 30;
-	float friction1 = colObj1->getFriction();
+const int NUM_VERTS_Y = 30;
-	float restitution0 = colObj0->getRestitution();
+const int totalVerts = NUM_VERTS_X*NUM_VERTS_Y;
-	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;
-
-	const int NUM_VERTS_X = 30;
-	const int NUM_VERTS_Y = 30;
-	const int totalVerts = NUM_VERTS_X*NUM_VERTS_Y;
 
 void	ConcaveConvexcastDemo::setVertexPositions(float waveheight, float offset)
 {
@@ -326,10 +266,7 @@ void	ConcaveConvexcastDemo::initPhysics()
 {
 	#define TRISIZE 10.f
 
-     gContactAddedCallback = CustomMaterialCombinerCallback;
    
-#define USE_TRIMESH_SHAPE 1
-#ifdef USE_TRIMESH_SHAPE
 
 	int vertStride = sizeof(btVector3);
 	int indexStride = 3*sizeof(int);
@@ -367,99 +304,22 @@ void	ConcaveConvexcastDemo::initPhysics()
 
 	bool useQuantizedAabbCompression = true;
 
-//comment out the next line to read the BVH from disk (first run the demo once to create the BVH)
-#define SERIALIZE_TO_DISK 1
-#ifdef SERIALIZE_TO_DISK
 	trimeshShape  = new btBvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression);
+
 	m_collisionShapes.push_back(trimeshShape);
 
-	
-	///we can serialize the BVH data 
-	void* buffer = 0;
-	int numBytes = trimeshShape->getOptimizedBvh()->calculateSerializeBufferSize();
-	buffer = btAlignedAlloc(numBytes,16);
-	bool swapEndian = false;
-	trimeshShape->getOptimizedBvh()->serialize(buffer,numBytes,swapEndian);
-	FILE* file = fopen("bvh.bin","wb");
-	fwrite(buffer,1,numBytes,file);
-	fclose(file);
-	btAlignedFree(buffer);
-	
-
-
-#else
-
-	trimeshShape  = new btBvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression,false);
-
-	char* fileName = "bvh.bin";
-
-	FILE* file = fopen(fileName,"rb");
-	int size=0;
-	btOptimizedBvh* bvh = 0;
-
-	if (fseek(file, 0, SEEK_END) || (size = ftell(file)) == EOF || fseek(file, 0, SEEK_SET)) {        /* File operations denied? ok, just close and return failure */
-		printf("Error: cannot get filesize from %s\n", fileName);
-		exit(0);
-	} else
-	{
-
-		fseek(file, 0, SEEK_SET);
-
-		int buffersize = size+btOptimizedBvh::getAlignmentSerializationPadding();
-
-		void* buffer = btAlignedAlloc(buffersize,16);
-		int read = fread(buffer,1,size,file);
-		fclose(file);
-		bool swapEndian = false;
-		bvh = btOptimizedBvh::deSerializeInPlace(buffer,buffersize,swapEndian);
-	}
-
-	trimeshShape->setOptimizedBvh(bvh);
-
-#endif
-
 	btCollisionShape* groundShape = trimeshShape;
 	
-#else
-	btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50));
-	m_collisionShapes.push_back(groundShape);
-
-#endif //USE_TRIMESH_SHAPE
 
 	m_collisionConfiguration = new btDefaultCollisionConfiguration();
 
-#ifdef USE_PARALLEL_DISPATCHER
-
-#ifdef USE_WIN32_THREADING
-
-	int maxNumOutstandingTasks = 4;//number of maximum outstanding tasks
-	Win32ThreadSupport* threadSupport = new Win32ThreadSupport(Win32ThreadSupport::Win32ThreadConstructionInfo(
-								"collision",
-								processCollisionTask,
-								createCollisionLocalStoreMemory,
-								maxNumOutstandingTasks));
-#else
-///todo other platform threading
-///Playstation 3 SPU (SPURS)  version is available through PS3 Devnet
-///Libspe2 SPU support will be available soon
-///pthreads version
-///you can hook it up to your custom task scheduler by deriving from btThreadSupportInterface
-#endif
-
-	m_dispatcher = new	SpuGatheringCollisionDispatcher(threadSupport,maxNumOutstandingTasks,m_collisionConfiguration);
-#else
 	m_dispatcher = new	btCollisionDispatcher(m_collisionConfiguration);
-#endif//USE_PARALLEL_DISPATCHER
-
 
 	btVector3 worldMin(-1000,-1000,-1000);
 	btVector3 worldMax(1000,1000,1000);
 	m_broadphase = new btAxisSweep3(worldMin,worldMax);
 	m_solver = new btSequentialImpulseConstraintSolver();
 	m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
-#ifdef USE_PARALLEL_DISPATCHER
-	m_dynamicsWorld->getDispatchInfo().m_enableSPU=true;
-#endif //USE_PARALLEL_DISPATCHER
 	
 	float mass = 0.f;
 	btTransform	startTransform;

Demos/ConcaveRaycastDemo/ConcaveRaycastDemo.cpp

@@ -20,15 +20,6 @@ subject to the following restrictions:
 #include "GL_ShapeDrawer.h"
 #include "GlutStuff.h"
 
-//#define USE_PARALLEL_DISPATCHER 1
-#ifdef USE_PARALLEL_DISPATCHER
-#include "../../Extras/BulletMultiThreaded/SpuGatheringCollisionDispatcher.h"
-#include "../../Extras/BulletMultiThreaded/Win32ThreadSupport.h"
-#include "../../Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h"
-#endif//USE_PARALLEL_DISPATCHER
-
-
-
 
 static btVector3*	gVertices=0;
 static int*	gIndices=0;
@@ -211,27 +202,6 @@ public:
 
 static btRaycastBar raycastBar;
 
-///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;
-}
-
-
-
 
 const int NUM_VERTS_X = 30;
 const int NUM_VERTS_Y = 30;
@@ -316,6 +286,7 @@ void	ConcaveRaycastDemo::initPhysics()
 	bool useQuantizedAabbCompression = true;
 
 	trimeshShape  = new btBvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression);
+	m_collisionShapes.push_back(trimeshShape);
 
 	btCollisionShape* groundShape = trimeshShape;
 	
@@ -449,6 +420,7 @@ void	ConcaveRaycastDemo::exitPhysics()
 
 	delete m_collisionConfiguration;
 
+	delete[] gVertices;
 	
 }
 

Demos/DynamicControlDemo/MotorDemo.cpp

@@ -328,7 +328,10 @@ void MotorDemo::clientMoveAndDisplay()
 
 
 	if (m_dynamicsWorld)
+	{
 		m_dynamicsWorld->stepSimulation(ms / 1000000.f);
+		m_dynamicsWorld->debugDrawWorld();
+	}
 
 	renderme(); 
 
@@ -349,7 +352,7 @@ void MotorDemo::displayCallback()
 	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
 
 	if (m_dynamicsWorld)
-		m_dynamicsWorld->updateAabbs();
+		m_dynamicsWorld->debugDrawWorld();
 
 	renderme();
 

src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h

@@ -138,7 +138,7 @@ public:
 
 	void	debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color);
 
-	void	debugDrawWorld();
+	virtual void	debugDrawWorld();
 
 	virtual void	setConstraintSolver(btConstraintSolver* solver);
 

src/BulletDynamics/Dynamics/btDynamicsWorld.h

@@ -50,6 +50,8 @@ class btDynamicsWorld : public btCollisionWorld
 			
 		virtual void	updateAabbs() = 0;
 
+		virtual void	debugDrawWorld() = 0;
+				
 		virtual void	addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false) { (void)constraint;};
 
 		virtual void	removeConstraint(btTypedConstraint* constraint) {(void)constraint;};