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Allow the ForkLiftDemo to toggle between MLCP and SI solver, using F6 key.

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Apply patch for CMake config, see Issue 754 (Issue 753)
Fix a few issue with the MLCP solver: allow split impulse, and fix offset in friction dependencies
This commit is contained in:
erwin.coumans@gmail.com
2013-10-23 23:35:13 +00:00
parent e5590575a9
commit a1c962192c
15 changed files with 298 additions and 49 deletions
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104
Demos/ForkLiftDemo/ForkLiftDemo.cpp
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@@ -22,6 +22,11 @@ subject to the following restrictions:
#include "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h"
#include "GLDebugFont.h"
#include "BulletDynamics/MLCPSolvers/btDantzigSolver.h"
#include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h"
#include "BulletDynamics/MLCPSolvers/btMLCPSolver.h"
#ifndef M_PI
#define M_PI 3.14159265358979323846
#endif
@@ -55,6 +60,8 @@ subject to the following restrictions:
btVector3 wheelAxleCS(-1,0,0);
#endif
bool useMCLPSolver = true;
#include "GLDebugDrawer.h"
#include <stdio.h> //printf debugging
@@ -123,7 +130,7 @@ m_maxCameraDistance(10.f)
}
void ForkLiftDemo::termPhysics()
void ForkLiftDemo::exitPhysics()
{
//cleanup in the reverse order of creation/initialization
@@ -157,6 +164,7 @@ void ForkLiftDemo::termPhysics()
btCollisionShape* shape = m_collisionShapes[j];
delete shape;
}
m_collisionShapes.clear();
delete m_indexVertexArrays;
delete m_vertices;
@@ -185,7 +193,7 @@ void ForkLiftDemo::termPhysics()
ForkLiftDemo::~ForkLiftDemo()
{
termPhysics();
exitPhysics();
}
void ForkLiftDemo::initPhysics()
@@ -203,8 +211,24 @@ void ForkLiftDemo::initPhysics()
btVector3 worldMin(-1000,-1000,-1000);
btVector3 worldMax(1000,1000,1000);
m_overlappingPairCache = new btAxisSweep3(worldMin,worldMax);
m_constraintSolver = new btSequentialImpulseConstraintSolver();
if (useMCLPSolver)
{
btDantzigSolver* mlcp = new btDantzigSolver();
//btSolveProjectedGaussSeidel* mlcp = new btSolveProjectedGaussSeidel;
btMLCPSolver* sol = new btMLCPSolver(mlcp);
m_constraintSolver = sol;
} else
{
m_constraintSolver = new btSequentialImpulseConstraintSolver();
}
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_constraintSolver,m_collisionConfiguration);
if (useMCLPSolver)
{
m_dynamicsWorld ->getSolverInfo().m_minimumSolverBatchSize = 1;//for direct solver it is better to have a small A matrix
} else
{
m_dynamicsWorld ->getSolverInfo().m_minimumSolverBatchSize = 128;//for direct solver, it is better to solve multiple objects together, small batches have high overhead
}
#ifdef FORCE_ZAXIS_UP
m_dynamicsWorld->setGravity(btVector3(0,0,-10));
#endif
@@ -212,7 +236,7 @@ void ForkLiftDemo::initPhysics()
//m_dynamicsWorld->setGravity(btVector3(0,0,0));
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(0,-10,0));
tr.setOrigin(btVector3(0,-3,0));
//either use heightfield or triangle mesh
@@ -341,15 +365,15 @@ tr.setOrigin(btVector3(0,-10,0));
loadTrans.setOrigin(btVector3(-2.1f, 0.0f, 0.0f));
loadCompound->addChildShape(loadTrans, loadShapeC);
loadTrans.setIdentity();
m_loadStartPos = btVector3(0.0f, -3.5f, 7.0f);
m_loadStartPos = btVector3(0.0f, 3.5f, 7.0f);
loadTrans.setOrigin(m_loadStartPos);
m_loadBody = localCreateRigidBody(4, loadTrans, loadCompound);
}
clientResetScene();
/// create vehicle
{
@@ -408,6 +432,7 @@ tr.setOrigin(btVector3(0,-10,0));
}
}
resetForklift();
setCameraDistance(26.f);
@@ -459,6 +484,25 @@ void ForkLiftDemo::renderme()
sprintf(buf,"SHIFT+Cursor UP/Down - move fork up/down");
yStart+=20;
GLDebugDrawString(xStart,yStart,buf);
yStart+=20;
glRasterPos3f(xStart, yStart, 0);
sprintf(buf,"F6 - toggle solver");
GLDebugDrawString(xStart,yStart,buf);
yStart+=20;
glRasterPos3f(xStart, yStart, 0);
if (m_dynamicsWorld->getConstraintSolver()->getSolverType()==BT_MLCP_SOLVER)
{
sprintf(buf,"Using direct MLCP solver");
} else
{
sprintf(buf,"Using sequential impulse solver");
}
GLDebugDrawString(xStart,yStart,buf);
glRasterPos3f(xStart, yStart, 0);
sprintf(buf,"F5 - toggle camera mode");
yStart+=20;
@@ -510,6 +554,19 @@ void ForkLiftDemo::clientMoveAndDisplay()
int numSimSteps;
numSimSteps = m_dynamicsWorld->stepSimulation(dt,maxSimSubSteps);
if (m_dynamicsWorld->getConstraintSolver()->getSolverType()==BT_MLCP_SOLVER)
{
btMLCPSolver* sol = (btMLCPSolver*) m_dynamicsWorld->getConstraintSolver();
int numFallbacks = sol->getNumFallbacks();
if (numFallbacks)
{
static int totalFailures = 0;
totalFailures+=numFallbacks;
printf("MLCP solver failed %d times, falling back to btSequentialImpulseSolver (SI)\n",totalFailures);
}
sol->setNumFallbacks(0);
}
//#define VERBOSE_FEEDBACK
#ifdef VERBOSE_FEEDBACK
@@ -574,8 +631,13 @@ void ForkLiftDemo::displayCallback(void)
}
void ForkLiftDemo::clientResetScene()
{
exitPhysics();
initPhysics();
}
void ForkLiftDemo::resetForklift()
{
gVehicleSteering = 0.f;
gBreakingForce = defaultBreakingForce;
@@ -747,6 +809,32 @@ void ForkLiftDemo::specialKeyboard(int key, int x, int y)
break;
}
case GLUT_KEY_F6:
{
//switch solver (needs demo restart)
useMCLPSolver = !useMCLPSolver;
printf("switching to useMLCPSolver = %d\n", useMCLPSolver);
delete m_constraintSolver;
if (useMCLPSolver)
{
btDantzigSolver* mlcp = new btDantzigSolver();
//btSolveProjectedGaussSeidel* mlcp = new btSolveProjectedGaussSeidel;
btMLCPSolver* sol = new btMLCPSolver(mlcp);
m_constraintSolver = sol;
} else
{
m_constraintSolver = new btSequentialImpulseConstraintSolver();
}
m_dynamicsWorld->setConstraintSolver(m_constraintSolver);
//exitPhysics();
//initPhysics();
break;
}
case GLUT_KEY_F5:
m_useDefaultCamera = !m_useDefaultCamera;
break;