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Refactoring:

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Moved optional code to Extras: AlgebraicCCD,EPA,quickstep
Moved SimpleBroadphase data to OverlappingPairCache, and derive both SimpleBroadphase and AxisSweep3 from OverlappingPairCache.
Added ParallelPhysicsEnvironment (prepair more parallel mainloop)
Upgraded hardcoded limit from 1024/8192 to 32766/65535 (max objects / max overlapping pairs)
This commit is contained in:
ejcoumans
2006-06-29 20:57:47 +00:00
parent 28a8afe528
commit 9105c3af5a
51 changed files with 7428 additions and 7107 deletions
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17
Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
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@@ -69,14 +69,17 @@ extern float eye[3];
extern int glutScreenWidth;
extern int glutScreenHeight;
const int maxProxies = 32766;
const int maxOverlap = 65535;
#ifdef _DEBUG
const int numObjects = 22;
const int numObjects = 5000;
#else
const int numObjects = 120;
const int numObjects = 2000;
#endif
const int maxNumObjects = 450;
const int maxNumObjects = 32760;
MyMotionState ms[maxNumObjects];
CcdPhysicsController* physObjects[maxNumObjects] = {0,0,0,0};
@@ -127,11 +130,11 @@ int main(int argc,char** argv)
CollisionDispatcher* dispatcher = new CollisionDispatcher();
SimdVector3 worldAabbMin(-10000,-10000,-10000);
SimdVector3 worldAabbMax(10000,10000,10000);
SimdVector3 worldAabbMin(-30000,-30000,-30000);
SimdVector3 worldAabbMax(30000,30000,30000);
BroadphaseInterface* broadphase = new AxisSweep3(worldAabbMin,worldAabbMax);
//BroadphaseInterface* broadphase = new SimpleBroadphase();
//BroadphaseInterface* broadphase = new AxisSweep3(worldAabbMin,worldAabbMax,maxProxies,maxOverlap);
BroadphaseInterface* broadphase = new SimpleBroadphase(maxProxies,maxOverlap);
physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase);
physicsEnvironmentPtr->setDeactivationTime(2.f);

8
Demos/ConcaveDemo/ConcavePhysicsDemo.cpp
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@@ -22,8 +22,8 @@ subject to the following restrictions:
#include "Dynamics/RigidBody.h"
#include "BroadphaseCollision/AxisSweep3.h"
#include "ConstraintSolver/SimpleConstraintSolver.h"
#include "ConstraintSolver/OdeConstraintSolver.h"
#include "ConstraintSolver/SequentialImpulseConstraintSolver.h"
//#include "ConstraintSolver/OdeConstraintSolver.h"
#include "CollisionDispatch/CollisionDispatcher.h"
#include "BroadphaseCollision/SimpleBroadphase.h"
#include "CollisionShapes/TriangleMeshShape.h"
@@ -216,8 +216,8 @@ int main(int argc,char** argv)
// GLDebugDrawer debugDrawer;
//ConstraintSolver* solver = new SimpleConstraintSolver;
ConstraintSolver* solver = new OdeConstraintSolver;
ConstraintSolver* solver = new SequentialImpulseConstraintSolver;
//ConstraintSolver* solver = new OdeConstraintSolver;
CollisionDispatcher* dispatcher = new CollisionDispatcher();

6
Demos/ConstraintDemo/ConstraintDemo.cpp
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@@ -22,8 +22,8 @@ subject to the following restrictions:
#include "CollisionShapes/EmptyShape.h"
#include "Dynamics/RigidBody.h"
#include "ConstraintSolver/SimpleConstraintSolver.h"
#include "ConstraintSolver/OdeConstraintSolver.h"
#include "ConstraintSolver/SequentialImpulseConstraintSolver.h"
//#include "ConstraintSolver/OdeConstraintSolver.h"
#include "CollisionDispatch/CollisionDispatcher.h"
#include "BroadphaseCollision/SimpleBroadphase.h"
#include "IDebugDraw.h"
@@ -72,7 +72,7 @@ int main(int argc,char** argv)
{
ConstraintSolver* solver = new SimpleConstraintSolver;
ConstraintSolver* solver = new SequentialImpulseConstraintSolver;
//ConstraintSolver* solver = new OdeConstraintSolver;
CollisionDispatcher* dispatcher = new CollisionDispatcher();

4
Demos/EPAPenDepthDemo/EpaPenDepthDemo.cpp
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@@ -48,9 +48,11 @@ subject to the following restrictions:
#include "NarrowPhaseCollision/Epa.h"
#include "NarrowPhaseCollision/ConvexPenetrationDepthSolver.h"
#include "NarrowPhaseCollision/EpaPenetrationDepthSolver.h"
EpaPenetrationDepthSolver epaPenDepthSolver;
SimplexSolverInterface simplexSolver;
EpaPenetrationDepthSolver epaPenDepthSolver;
int screenWidth = 640.f;
int screenHeight = 480.f;

5
Demos/GjkConvexCastDemo/LinearConvexCastDemo.cpp
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@@ -29,7 +29,10 @@
#include "NarrowPhaseCollision/GjkConvexCast.h"
#include "NarrowPhaseCollision/ContinuousConvexCollision.h"
#include "NarrowPhaseCollision/SubSimplexConvexCast.h"
#ifdef USE_ALGEBRAIC_CCD
#include "NarrowPhaseCollision/BU_CollisionPair.h"
#endif //USE_ALGEBRAIC_CCD
#include "CollisionShapes/SphereShape.h"
@@ -191,7 +194,7 @@ void clientDisplay(void) {
GjkConvexCast convexCaster1(shapePtr[0],shapePtr[i],&gGjkSimplexSolver);
//BU_CollisionPair (algebraic version) is currently broken, will look into this
BU_CollisionPair convexCaster2(shapePtr[0],shapePtr[i]);
//BU_CollisionPair convexCaster2(shapePtr[0],shapePtr[i]);
SubsimplexConvexCast convexCaster3(shapePtr[0],shapePtr[i],&gGjkSimplexSolver);
gGjkSimplexSolver.reset();

3
Demos/Raytracer/Raytracer.cpp
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@@ -30,8 +30,9 @@ Very basic raytracer, rendering into a texture.
#include "NarrowPhaseCollision/SubSimplexConvexCast.h"
#include "NarrowPhaseCollision/GjkConvexCast.h"
#include "NarrowPhaseCollision/ContinuousConvexCollision.h"
#ifdef USE_ALGEBRAIC_CCD
#include "NarrowPhaseCollision/BU_CollisionPair.h"
#endif //USE_ALGEBRAIC_CCD
#include "CollisionShapes/SphereShape.h"