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enable predictive contact constraints, see BasicDemo

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This commit is contained in:
erwin.coumans
2011-03-05 03:01:44 +00:00
parent a99d2679bd
commit 7a9c349a8c
7 changed files with 174 additions and 48 deletions
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159
Demos/BasicDemo/BasicDemo.cpp
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@@ -13,7 +13,6 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
//#define TEST_SERIALIZATION 1
///create 125 (5x5x5) dynamic object
#define ARRAY_SIZE_X 5
@@ -31,14 +30,18 @@ subject to the following restrictions:
#include "BasicDemo.h"
#include "GlutStuff.h"
#include "GLDebugFont.h"
///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
#include "btBulletDynamicsCommon.h"
#ifdef TEST_SERIALIZATION
#include "LinearMath/btSerializer.h"
#endif //TEST_SERIALIZATION
#include <stdio.h> //printf debugging
BasicDemo::BasicDemo()
:m_usePredictiveContacts(true)
{
}
void BasicDemo::clientMoveAndDisplay()
{
@@ -50,13 +53,15 @@ void BasicDemo::clientMoveAndDisplay()
///step the simulation
if (m_dynamicsWorld)
{
m_dynamicsWorld->stepSimulation(ms / 1000000.f);
m_dynamicsWorld->stepSimulation(1./60.);//ms / 1000000.f);
//optional but useful: debug drawing
m_dynamicsWorld->debugDrawWorld();
}
renderme();
displayText();
glFlush();
swapBuffers();
@@ -64,6 +69,40 @@ void BasicDemo::clientMoveAndDisplay()
}
void BasicDemo::displayText()
{
int lineWidth=450;
int xStart = m_glutScreenWidth - lineWidth;
int yStart = 20;
if((getDebugMode() & btIDebugDraw::DBG_DrawText)!=0)
{
setOrthographicProjection();
glDisable(GL_LIGHTING);
glColor3f(0, 0, 0);
char buf[124];
glRasterPos3f(xStart, yStart, 0);
if (this->m_usePredictiveContacts)
{
sprintf(buf,"Predictive contacts enabled");
} else
{
sprintf(buf,"Conservative advancement enabled");
}
GLDebugDrawString(xStart,20,buf);
yStart+=20;
glRasterPos3f(xStart, yStart, 0);
sprintf(buf,"Press 'p' to toggle CCD mode");
yStart+=20;
GLDebugDrawString(xStart,yStart,buf);
glRasterPos3f(xStart, yStart, 0);
resetPerspectiveProjection();
glEnable(GL_LIGHTING);
}
}
void BasicDemo::displayCallback(void) {
@@ -71,9 +110,13 @@ void BasicDemo::displayCallback(void) {
renderme();
displayText();
//optional but useful: debug drawing to detect problems
if (m_dynamicsWorld)
{
m_dynamicsWorld->debugDrawWorld();
}
glFlush();
swapBuffers();
@@ -87,15 +130,18 @@ void BasicDemo::initPhysics()
{
setTexturing(true);
setShadows(true);
m_ShootBoxInitialSpeed = 1000.f;
setCameraDistance(btScalar(SCALING*50.));
///collision configuration contains default setup for memory, collision setup
m_collisionConfiguration = new btDefaultCollisionConfiguration();
//m_collisionConfiguration->setConvexConvexMultipointIterations();
m_collisionConfiguration->setConvexConvexMultipointIterations();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
m_dispatcher->registerCollisionCreateFunc(BOX_SHAPE_PROXYTYPE,BOX_SHAPE_PROXYTYPE,m_collisionConfiguration->getCollisionAlgorithmCreateFunc(CONVEX_SHAPE_PROXYTYPE,CONVEX_SHAPE_PROXYTYPE));
m_broadphase = new btDbvtBroadphase();
@@ -104,6 +150,12 @@ void BasicDemo::initPhysics()
m_solver = sol;
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
setDebugMode(btIDebugDraw::DBG_DrawText|btIDebugDraw::DBG_NoHelpText);
if (m_usePredictiveContacts)
{
m_dynamicsWorld->getDispatchInfo().m_convexMaxDistanceUseCPT = true;
}
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
@@ -179,48 +231,76 @@ void BasicDemo::initPhysics()
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
if (m_usePredictiveContacts)
body->setContactProcessingThreshold(1e30);
body->setActivationState(ISLAND_SLEEPING);
m_dynamicsWorld->addRigidBody(body);
body->setActivationState(ISLAND_SLEEPING);
}
}
}
}
clientResetScene();
#ifdef TEST_SERIALIZATION
//test serializing this
int maxSerializeBufferSize = 1024*1024*5;
btDefaultSerializer* serializer = new btDefaultSerializer(maxSerializeBufferSize);
m_dynamicsWorld->serialize(serializer);
FILE* f2 = fopen("testFile.bullet","wb");
fwrite(serializer->m_buffer,serializer->m_currentSize,1,f2);
fclose(f2);
#endif
#if 0
bParse::btBulletFile* bulletFile2 = new bParse::btBulletFile("testFile.bullet");
bool ok = (bulletFile2->getFlags()& bParse::FD_OK)!=0;
bool verboseDumpAllTypes = true;
if (ok)
bulletFile2->parse(verboseDumpAllTypes);
if (verboseDumpAllTypes)
{
bulletFile2->dumpChunks(bulletFile2->getFileDNA());
}
#endif //TEST_SERIALIZATION
}
void BasicDemo::clientResetScene()
{
exitPhysics();
initPhysics();
}
void BasicDemo::keyboardCallback(unsigned char key, int x, int y)
{
if (key=='p')
{
m_usePredictiveContacts = !m_usePredictiveContacts;
clientResetScene();
} else
{
DemoApplication::keyboardCallback(key,x,y);
}
}
void BasicDemo::shootBox(const btVector3& destination)
{
if (m_dynamicsWorld)
{
float mass = 1.f;
btTransform startTransform;
startTransform.setIdentity();
btVector3 camPos = getCameraPosition();
startTransform.setOrigin(camPos);
setShootBoxShape ();
btRigidBody* body = this->localCreateRigidBody(mass, startTransform,m_shootBoxShape);
body->setLinearFactor(btVector3(1,1,1));
//body->setRestitution(1);
btVector3 linVel(destination[0]-camPos[0],destination[1]-camPos[1],destination[2]-camPos[2]);
linVel.normalize();
linVel*=m_ShootBoxInitialSpeed;
body->getWorldTransform().setOrigin(camPos);
body->getWorldTransform().setRotation(btQuaternion(0,0,0,1));
body->setLinearVelocity(linVel);
body->setAngularVelocity(btVector3(0,0,0));
body->setContactProcessingThreshold(1e30);
///when using m_usePredictiveContacts, disable regular CCD
if (!m_usePredictiveContacts)
{
body->setCcdMotionThreshold(1.);
body->setCcdSweptSphereRadius(0.2f);
}
}
}
void BasicDemo::exitPhysics()
{
@@ -247,6 +327,7 @@ void BasicDemo::exitPhysics()
btCollisionShape* shape = m_collisionShapes[j];
delete shape;
}
m_collisionShapes.clear();
delete m_dynamicsWorld;

14
Demos/BasicDemo/BasicDemo.h
View File

@@ -47,13 +47,14 @@ class BasicDemo : public PlatformDemoApplication
btConstraintSolver* m_solver;
bool m_usePredictiveContacts;
btDefaultCollisionConfiguration* m_collisionConfiguration;
public:
BasicDemo()
{
}
BasicDemo();
virtual ~BasicDemo()
{
exitPhysics();
@@ -64,7 +65,14 @@ class BasicDemo : public PlatformDemoApplication
virtual void clientMoveAndDisplay();
void displayText();
virtual void keyboardCallback(unsigned char key, int x, int y);
virtual void displayCallback();
virtual void shootBox(const btVector3& destination);
virtual void clientResetScene();
static DemoApplication* Create()
{