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some demo cleanup, part 0

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This commit is contained in:
ejcoumans
2007-12-06 23:58:50 +00:00
parent c09923dc20
commit 71fb40b775
6 changed files with 39 additions and 285 deletions
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133
Demos/BasicDemo/BasicDemo.cpp
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@@ -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
#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
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
#endif //USE_PARALLEL_DISPATCHER
#define USE_SWEEP_AND_PRUNE 1
#ifdef USE_SWEEP_AND_PRUNE
#define maxProxies 8192
///the maximum size of the collision world. Make sure objects stay within these boundaries
///Don't make the world AABB size too large, it will harm simulation quality and performance
btVector3 worldAabbMin(-10000,-10000,-10000);
btVector3 worldAabbMax(10000,10000,10000);
m_overlappingPairCache = new btAxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
#else
m_overlappingPairCache = new btSimpleBroadphase;
#endif //USE_SWEEP_AND_PRUNE
m_overlappingPairCache = new btAxisSweep3(worldAabbMin,worldAabbMax,MAX_PROXIES);
///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();

150
Demos/ConcaveConvexcastDemo/ConcaveConvexcastDemo.cpp
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@@ -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();
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;
const int NUM_VERTS_X = 30;
const int NUM_VERTS_Y = 30;
const int totalVerts = NUM_VERTS_X*NUM_VERTS_Y;
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;

32
Demos/ConcaveRaycastDemo/ConcaveRaycastDemo.cpp
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@@ -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;
}

5
Demos/DynamicControlDemo/MotorDemo.cpp
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@@ -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();

2
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
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@@ -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);

2
src/BulletDynamics/Dynamics/btDynamicsWorld.h
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@@ -49,6 +49,8 @@ class btDynamicsWorld : public btCollisionWorld
virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))=0;
virtual void updateAabbs() = 0;
virtual void debugDrawWorld() = 0;
virtual void addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false) { (void)constraint;};