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- Added serialization to btBvhTriangleMeshShape/btOptimizedBvh. See ConcaveDemo for example usage.

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- added bt32BitAxisSweep3, which co-exists without recompilation, using template class. This broadphase is recommended for large worlds with many objects (> 16384), until btMultiSwap is finished.
- Fixed some recent issues in Bullet 2.57 related to compound (thanks Proctoid) and memory allocations
This commit is contained in:
ejcoumans
2007-09-10 01:14:42 +00:00
parent e1c037b4c2
commit b054f375bc
20 changed files with 1585 additions and 810 deletions
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13
Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
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@@ -14,8 +14,8 @@ subject to the following restrictions:
*/
//enable just one, DO_BENCHMARK_PYRAMIDS or DO_WALL
//#define DO_BENCHMARK_PYRAMIDS 1
#define DO_WALL 1
#define DO_BENCHMARK_PYRAMIDS 1
//#define DO_WALL 1
//Note: some of those settings need 'DO_WALL' demo
//#define USE_KINEMATIC_GROUND 1
@@ -401,7 +401,10 @@ int maxNumOutstandingTasks = 4;//number of maximum outstanding tasks
btVector3 worldAabbMax(1000,1000,1000);
btBroadphaseInterface* broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
// btOverlappingPairCache* broadphase = new btSimpleBroadphase;
/// For large worlds or over 16384 objects, use the bt32BitAxisSweep3 broadphase
// btBroadphaseInterface* broadphase = new bt32BitAxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
/// When trying to debug broadphase issues, try to use the btSimpleBroadphase
// btBroadphaseInterface* broadphase = new btSimpleBroadphase;
#ifdef REGISTER_CUSTOM_COLLISION_ALGORITHM
dispatcher->registerCollisionCreateFunc(SPHERE_SHAPE_PROXYTYPE,SPHERE_SHAPE_PROXYTYPE,new btSphereSphereCollisionAlgorithm::CreateFunc);
@@ -576,8 +579,8 @@ int maxNumOutstandingTasks = 4;//number of maximum outstanding tasks
localCreateRigidBody(0.f,trans,shapePtr[shapeIndex[0]]);
int numWalls = 10;
int wallHeight = 10;
int numWalls = 15;
int wallHeight = 15;
float wallDistance = 3;

48
Demos/ConcaveDemo/ConcavePhysicsDemo.cpp
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@@ -111,8 +111,8 @@ int main(int argc,char** argv)
}
const int NUM_VERTS_X = 50;
const int NUM_VERTS_Y = 50;
const int NUM_VERTS_X = 30;
const int NUM_VERTS_Y = 30;
const int totalVerts = NUM_VERTS_X*NUM_VERTS_Y;
void ConcaveDemo::setVertexPositions(float waveheight, float offset)
@@ -191,8 +191,50 @@ void ConcaveDemo::initPhysics()
totalVerts,(btScalar*) &gVertices[0].x(),vertStride);
bool useQuantizedAabbCompression = true;
trimeshShape = new btBvhTriangleMeshShape(indexVertexArrays,useQuantizedAabbCompression);
#define SERIALIZE_TO_DISK 1
#ifdef SERIALIZE_TO_DISK
trimeshShape = new btBvhTriangleMeshShape(indexVertexArrays,useQuantizedAabbCompression);
///we can serialize the BVH data
void* buffer = 0;
int numBytes = trimeshShape->getOptimizedBvh()->calculateSerializeBufferSize();
buffer = btAlignedAlloc(numBytes,16);
bool swapEndian = true;
trimeshShape->getOptimizedBvh()->serialize(buffer,numBytes,swapEndian);
FILE* file = fopen("bvh.bin","wb");
fwrite(buffer,1,numBytes,file);
fclose(file);
#else
trimeshShape = new btBvhTriangleMeshShape(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);
void* buffer = btAlignedAlloc(size,16);
memset(buffer,0xcc,size);
int read = fread(buffer,1,size,file);
fclose(file);
bool swapEndian = true;
bvh = btOptimizedBvh::deSerializeInPlace(buffer,size,swapEndian);
}
trimeshShape->setOptimizedBvh(bvh);
#endif
// btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50));