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demo cleanup part 3 (fixed memory leaks in raytracer demo and linear convex cast demo)

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This commit is contained in:
ejcoumans
2007-12-07 01:33:40 +00:00
parent e5720170f0
commit 8a28c7940a
4 changed files with 91 additions and 264 deletions
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197
Demos/GjkConvexCastDemo/LinearConvexCastDemo.cpp
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@@ -23,101 +23,91 @@
///Low level demo, doesn't include btBulletCollisionCommon.h
#include "LinearMath/btQuaternion.h"
#include "LinearMath/btTransform.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
#include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
#ifdef USE_ALGEBRAIC_CCD
#include "NarrowPhaseCollision/BU_CollisionPair.h"
#endif //USE_ALGEBRAIC_CCD
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionShapes/btTetrahedronShape.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
#include "GL_ShapeDrawer.h"
#include "LinearConvexCastDemo.h"
#include "GlutStuff.h"
static btVoronoiSimplexSolver sVoronoiSimplexSolver;
btSimplexSolverInterface& gGjkSimplexSolver = sVoronoiSimplexSolver;
static float yaw=0.f,pitch=0.f,roll=0.f;
static const int maxNumObjects = 4;
static const int numObjects = 2;
static btPolyhedralConvexShape* shapePtr[maxNumObjects];
static btTransform tr[numObjects];
void DrawRasterizerLine(float const* , float const*, int)
{
}
void LinearConvexCastDemo::initPhysics()
{
setCameraDistance(50.f);
tr[0].setOrigin(btVector3(0,0,0));
tr[1].setOrigin(btVector3(0,10,0));
setCameraDistance(10.f);
btMatrix3x3 basisA;
basisA.setValue(0.99999958f,0.00022980258f,0.00090992288f,
-0.00029313788f,0.99753088f,0.070228584f,
-0.00089153741f,-0.070228823f,0.99753052f);
tr[0].setIdentity();
tr[0].setOrigin( btVector3( 0.0f, 5.5f, 0.0f ) );
btMatrix3x3 basisB;
basisB.setValue(1.0000000f,4.4865553e-018f,-4.4410586e-017f,
4.4865495e-018f,0.97979438f,0.20000751f,
4.4410586e-017f,-0.20000751f,0.97979438f);
tr[1].setIdentity();
tr[1].setOrigin( btVector3( 0.0f, 0.0f, 0.0f ) );
tr[0].setBasis(basisA);
tr[1].setBasis(basisB);
// Pyramide
float r = 1.0f;
float h = 2.0f;
btConvexHullShape* shapeA = new btConvexHullShape;
shapeA->addPoint( btVector3( 0.0f, 0.75f * h, 0.0f ) );
shapeA->addPoint( btVector3( -r, -0.25f * h, r ) );
shapeA->addPoint( btVector3( r, -0.25f * h, r ) );
shapeA->addPoint( btVector3( r, -0.25f * h, -r ) );
shapeA->addPoint( btVector3( -r, -0.25f * h, -r ) );
// Triangle
btConvexHullShape* shapeB = new btConvexHullShape;
shapeB->addPoint( btVector3( 0.0f, 1.0f, 0.0f ) );
shapeB->addPoint( btVector3( 1.0f, -1.0f, 0.0f ) );
shapeB->addPoint( btVector3( -1.0f, -1.0f, 0.0f ) );
btVector3 boxHalfExtentsA(0.2,4,4);
btVector3 boxHalfExtentsB(6,6,6);
shapePtr[0] = shapeA;
shapePtr[1] = shapeB;
btBoxShape* boxA = new btBoxShape(boxHalfExtentsA);
/* btBU_Simplex1to4 boxB;
boxB.addVertex(btPoint3(-5,0,-5));
boxB.addVertex(btPoint3(5,0,-5));
boxB.addVertex(btPoint3(0,0,5));
boxB.addVertex(btPoint3(0,5,0));
*/
btBoxShape* boxB = new btBoxShape(boxHalfExtentsB);
shapePtr[0] = boxA;
shapePtr[1] = boxB;
shapePtr[0]->setMargin(0.01f);
shapePtr[1]->setMargin(0.01f);
btTransform tr;
tr.setIdentity();
shapePtr[0]->setMargin( 0.01f );
shapePtr[1]->setMargin( 0.01f );
}
//to be implemented by the demo
void LinearConvexCastDemo::clientMoveAndDisplay()
{
displayCallback();
}
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
static btVoronoiSimplexSolver sVoronoiSimplexSolver;
btSimplexSolverInterface& gGjkSimplexSolver = sVoronoiSimplexSolver;
bool drawLine= false;
LinearConvexCastDemo::~LinearConvexCastDemo()
{
delete shapePtr[0];
delete shapePtr[1];
}
void LinearConvexCastDemo::displayCallback(void)
{
@@ -126,98 +116,43 @@ void LinearConvexCastDemo::displayCallback(void)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glDisable(GL_LIGHTING);
//GL_ShapeDrawer::drawCoordSystem();
GL_ShapeDrawer::drawCoordSystem();
btScalar m[16];
int i;
for (i=0;i<numObjects;i++)
{
tr[i].getOpenGLMatrix( m );
GL_ShapeDrawer::drawOpenGL(m,shapePtr[i],btVector3(1,1,1),getDebugMode());
}
btTransform toA, toB;
toA.setIdentity();
toA.setOrigin( btVector3( 0.0f, 1.5f, 0.0f ) );
toB.setIdentity();
toB.setOrigin( btVector3( 0.0f, 4.0f, 0.0f ) );
int shapeIndex = 1;
gGjkSimplexSolver.reset();
btSubsimplexConvexCast convexCaster( shapePtr[ 0 ], shapePtr[ 1 ], &gGjkSimplexSolver );
btQuaternion orn;
orn.setEuler(yaw,pitch,roll);
tr[shapeIndex].setRotation(orn);
btConvexCast::CastResult result;
convexCaster.calcTimeOfImpact( tr[ 0 ], toA, tr[ 1 ], toB, result );
btScalar m1[16], m2[16];
tr[ 0 ].getOpenGLMatrix( m1 );
tr[ 1 ].getOpenGLMatrix( m2 );
if (m_stepping || m_singleStep)
{
m_singleStep = false;
pitch += 0.005f;
yaw += 0.01f;
}
GL_ShapeDrawer::drawOpenGL( m1, shapePtr[ 0 ], btVector3( 1, 0, 0 ), getDebugMode() );
GL_ShapeDrawer::drawOpenGL( m2, shapePtr[ 1 ], btVector3( 1, 0, 0 ), getDebugMode() );
btVector3 fromA(-25,11,0);
btVector3 toA(15,11,0);
btVector3 originA, originB;
originA.setInterpolate3( tr[ 0 ].getOrigin(), toA.getOrigin(), result.m_fraction );
originB.setInterpolate3( tr[ 1 ].getOrigin(), toB.getOrigin(), result.m_fraction );
btQuaternion ornFromA(0.f,0.f,0.f,1.f);
btQuaternion ornToA(0.f,0.f,0.f,1.f);
btTransform A = tr[ 0 ];
A.setOrigin( originA );
btTransform rayFromWorld(ornFromA,fromA);
btTransform rayToWorld(ornToA,toA);
btTransform B = tr[ 1 ];
B.setOrigin( originB );
tr[0] = rayFromWorld;
A.getOpenGLMatrix( m1 );
B.getOpenGLMatrix( m2 );
if (drawLine)
{
glBegin(GL_LINES);
glColor3f(0, 0, 1);
glVertex3d(rayFromWorld.getOrigin().x(), rayFromWorld.getOrigin().y(),rayFromWorld.getOrigin().z());
glVertex3d(rayToWorld.getOrigin().x(),rayToWorld.getOrigin().y(),rayToWorld.getOrigin().z());
glEnd();
}
//now perform a raycast on the shapes, in local (shape) space
//choose one of the following lines
for (i=1;i<numObjects;i++)
{
btContinuousConvexCollision convexCaster0(shapePtr[0],shapePtr[i],&gGjkSimplexSolver,0);
btGjkConvexCast convexCaster1(shapePtr[0],shapePtr[i],&gGjkSimplexSolver);
//BU_CollisionPair (algebraic version) is currently broken, will look into this
//BU_CollisionPair convexCaster2(shapePtr[0],shapePtr[i]);
btSubsimplexConvexCast convexCaster3(shapePtr[0],shapePtr[i],&gGjkSimplexSolver);
gGjkSimplexSolver.reset();
btConvexCast::CastResult rayResult;
if (convexCaster3.calcTimeOfImpact(rayFromWorld,rayToWorld,tr[i],tr[i],rayResult))
{
glDisable(GL_DEPTH_TEST);
btVector3 hitPoint;
hitPoint.setInterpolate3(rayFromWorld.getOrigin(),rayToWorld.getOrigin(),rayResult.m_fraction);
//draw the raycast result
glBegin(GL_LINES);
glColor3f(1, 1, 1);
glVertex3d(rayFromWorld.getOrigin().x(), rayFromWorld.getOrigin().y(),rayFromWorld.getOrigin().z());
glVertex3d(hitPoint.x(),hitPoint.y(),hitPoint.z());
glEnd();
glEnable(GL_DEPTH_TEST);
btTransform toTransWorld;
toTransWorld = tr[0];
toTransWorld.setOrigin(hitPoint);
toTransWorld.getOpenGLMatrix( m );
GL_ShapeDrawer::drawOpenGL(m,shapePtr[0],btVector3(0,1,1),getDebugMode());
}
}
GL_ShapeDrawer::drawOpenGL( m1, shapePtr[ 0 ], btVector3( 1, 1, 0 ), getDebugMode() );
GL_ShapeDrawer::drawOpenGL( m2, shapePtr[ 1 ], btVector3( 1, 1, 0 ), getDebugMode() );
glFlush();
glutSwapBuffers();

2
Demos/GjkConvexCastDemo/LinearConvexCastDemo.h
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@@ -22,6 +22,8 @@ class LinearConvexCastDemo : public DemoApplication
{
public:
virtual ~LinearConvexCastDemo();
void initPhysics();
virtual void clientMoveAndDisplay();

130
Demos/Raytracer/Raytracer.cpp
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@@ -11,48 +11,8 @@
#define IN_TO_M_CONSTANT (0.0254f)
#define M_TO_IN_CONSTANT (39.3700787f)
#define CM_TO_IN_CONSTANT (0.393700787f)
#define LBS_TO_KG_CONSTANT (0.45359237f)
#define FEET_TO_IN(x) (12.0f * (float)(x))
#define IN_TO_FT(x) ((float)(x)/12.0f)
#define IN_TO_M(x) ((float)(x) * IN_TO_M_CONSTANT)
#define M_TO_IN(x) ((float)(x) * M_TO_IN_CONSTANT)
#define CM_TO_IN(x) ((float)(x) * CM_TO_IN_CONSTANT)
#define FT_TO_M(x) (IN_TO_M(FEET_TO_IN(x)))
#define LBS_TO_KG(x) ((float)(x) * LBS_TO_KG_CONSTANT)
#define PIN_HEIGHT IN_TO_M(15.0f)
#define PIN_DIAMETER IN_TO_M(4.76f)
#define PIN_MASS LBS_TO_KG(3.5f)
#define PIN_FRICTION (BALL_FRICTION) // a guess
//#define PIN_COR (0.67f) // was 0.67
#define PIN_COR (0.2f)
#define BALL_DIAMETER IN_TO_M(8.55f)
#define BALL_MASS LBS_TO_KG(16.0f)
#define BALL_FRICTION (0.3f) // max is 0.32
#define BALL_COR (0.7)
#define BALL_MAX_FRICTION (0.32f)
#define BALL_MAX_MASS (16.0f) // lbs
#define BALL_MIN_MASS (8.0f) // lbs
#define LANE_DECK_FUDGE (IN_TO_M(6.0f))
#define LANE_WIDTH IN_TO_M(42.0f)
#define LANE_TOTAL_WIDTH IN_TO_M(62.88f)
#define LANE_LENGTH FT_TO_M(60.0f-LANE_DECK_FUDGE)
#define GRAVITY_VECTOR (btVector3(0.0f,-9.81f,0.0f))
#define PIN_Z_DIST IN_TO_M(10.3923048f)
#define PIN_Y_DIST IN_TO_M(12.0f)
#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
/*
Raytracer uses the Convex rayCast to visualize the Collision Shapes/Minkowski Sum.
Very basic raytracer, rendering into a texture.
@@ -60,7 +20,6 @@ Very basic raytracer, rendering into a texture.
///Low level demo, doesn't include btBulletCollisionCommon.h
#include "GL_Simplex1to4.h"
#include "LinearMath/btQuaternion.h"
#include "LinearMath/btTransform.h"
#include "GL_ShapeDrawer.h"
@@ -74,10 +33,6 @@ Very basic raytracer, rendering into a texture.
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
#ifdef USE_ALGEBRAIC_CCD
#include "NarrowPhaseCollision/BU_CollisionPair.h"
#endif //USE_ALGEBRAIC_CCD
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
@@ -105,8 +60,6 @@ static float yaw=0.f,pitch=0.f,roll=0.f;
static const int maxNumObjects = 4;
static const int numObjects = 1;
/// simplex contains the vertices, and some extra code to draw and debug
static GL_Simplex1to4 simplex;
static btConvexShape* shapePtr[maxNumObjects];
static btTransform transforms[maxNumObjects];
@@ -119,14 +72,7 @@ static int screenWidth = 128;
static int screenHeight = 128;//screenWidth * aspectRatio;
GLuint glTextureId;
btSphereShape mySphere(1);
btBoxShape myBox(btVector3(0.4f,0.4f,0.4f));
btCylinderShape myCylinder(btVector3(0.3f,0.3f,0.3f));
btConeShape myCone(1,1);
btCompoundShape compound;
btMinkowskiSumShape myMink(&myCylinder,&myBox);
@@ -139,15 +85,8 @@ void Raytracer::initPhysics()
{
raytracePicture = new renderTexture(screenWidth,screenHeight);
myBox.setMargin(0.02f);
myCone.setMargin(0.2f);
simplex.setSimplexSolver(&simplexSolver);
simplex.addVertex(btPoint3(-1,0,-1));
simplex.addVertex(btPoint3(1,0,-1));
simplex.addVertex(btPoint3(0,0,1));
simplex.addVertex(btPoint3(0,1,0));
/// convex hull of 5 spheres
#define NUM_SPHERES 5
@@ -160,55 +99,22 @@ void Raytracer::initPhysics()
btVector3(0.f, 0.f, 0.f)
};
//btMultiSphereShape* multiSphereShape = new btMultiSphereShape(inertiaHalfExtents,positions,radi,NUM_SPHERES);
btVector3 sphereOffset1(0,0,0);
btScalar sphereRadius = 2.f;
btVector3 nonUniformScaling(0.5,2,0.5);
btMultiSphereShape* nonuniformScaledSphere = new btMultiSphereShape(inertiaHalfExtents,&sphereOffset1,&sphereRadius,1);
nonuniformScaledSphere->setLocalScaling(nonUniformScaling);
nonuniformScaledSphere->setMargin(0.04);
btConvexHullShape* convexHullShape = new btConvexHullShape(&positions[0].getX(),3);
//attempt to approximate a bowling pin
//choose shape
shapePtr[0] = &myCone;//&compound;//&myCone;//&myBox;//nonuniformScaledSphere;//&myCone;
// shapePtr[0] = &myCone;//&myBox;//nonuniformScaledSphere;//&myCone;
shapePtr[1] =&simplex;
shapePtr[2] =convexHullShape;
shapePtr[3] =&myMink;//myBox;//multiSphereShape
btVector3 sphereOffset(0,PIN_HEIGHT/4.0f,0);
// create pin collision shape
btCollisionShape* cyl = new btCylinderShape(btVector3(PIN_DIAMETER/4.0f, PIN_HEIGHT/4.0f, PIN_DIAMETER/4.0f));
cyl->setMargin(IN_TO_M(0.000025f));
btVector3 spherepositions[3] = {btVector3(0,-PIN_HEIGHT/2.f +(PIN_DIAMETER/2.0f)+IN_TO_M(1.25f),0),
btVector3(0,-PIN_HEIGHT/2.f +(PIN_DIAMETER/2.0f)+IN_TO_M(1.25f),0)+sphereOffset,
btVector3(0,-PIN_HEIGHT/2.f +(PIN_DIAMETER/2.0f)+IN_TO_M(1.25f),0)-sphereOffset};
btScalar radii[3] = {(PIN_DIAMETER/2.0f),(PIN_DIAMETER/4.0f),(PIN_DIAMETER/4.0f)};
btCollisionShape* sph = new btMultiSphereShape(inertiaHalfExtents,spherepositions,radii,3);
btTransform ident;
ident.setIdentity();
ident.setOrigin(btVector3(0.f,-PIN_HEIGHT/4.f,0.f));
compound.addChildShape(ident,cyl);
ident.setIdentity();
//ident.setOrigin(btVector3(0.0f, -PIN_HEIGHT/2.0f + PIN_DIAMETER/2.0f + IN_TO_M(3.5f), 0.0f));
compound.addChildShape(ident,sph);
btVector3 spherepositions2[2] = {btVector3(0,+PIN_HEIGHT/2.f -(PIN_DIAMETER/4.0f),0),
btVector3(0,0,0)};
btScalar radii2[2] = {(PIN_DIAMETER/4.0f),(PIN_DIAMETER/6.0f)};
btCollisionShape* sph2 = new btMultiSphereShape(inertiaHalfExtents,spherepositions2,radii2,2);
compound.addChildShape(ident,sph2);
compound.setMargin(0.001);
simplex.setMargin(0.3f);
shapePtr[0] = &myCone;
}
Raytracer::~Raytracer()
{
delete raytracePicture;
raytracePicture=0;
}
//to be implemented by the demo
@@ -242,7 +148,6 @@ void Raytracer::displayCallback()
//transforms[i].setRotation(orn);
}
}
myMink.setTransformA(btTransform(transforms[0].getRotation()));
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glDisable(GL_LIGHTING);
@@ -512,23 +417,6 @@ void Raytracer::displayCallback()
/*
/// normal opengl rendering
float m[16];
int i;
for (i=0;i<numObjects;i++)
{
transA.getOpenGLMatrix( m );
/// draw the simplex
GL_ShapeDrawer::drawOpenGL(m,shapePtr[i],btVector3(1,1,1));
/// calculate closest point from simplex to the origin, and draw this vector
simplex.calcClosest(m);
}
*/
glPopMatrix();

2
Demos/Raytracer/Raytracer.h
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@@ -24,6 +24,8 @@ class Raytracer : public DemoApplication
void initPhysics();
virtual ~Raytracer();
virtual void clientMoveAndDisplay();
virtual void displayCallback();