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added MultiThreadedDemo to AllBulletDemos

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This commit is contained in:
ejcoumans
2007-12-14 07:57:20 +00:00
parent c5e6044e53
commit b29330b19d
3 changed files with 5 additions and 140 deletions
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2
Demos/AllBulletDemos/DemoEntries.cpp
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@@ -25,6 +25,7 @@ subject to the following restrictions:
#include "../DynamicControlDemo/MotorDemo.h"
#include "../RagdollDemo/RagdollDemo.h"
#include "../GimpactTestDemo/GimpactTestDemo.h"
#include "../MultiThreadedDemo/MultiThreadedDemo.h"
#include "../Raytracer/Raytracer.h"
#include "../GjkConvexCastDemo/LinearConvexCastDemo.h"
#include "../VehicleDemo/VehicleDemo.h"
@@ -106,6 +107,7 @@ btDemoEntry g_demoEntries[] =
{"BasicDemo", BasicDemo::Create},
{"BspDemo", BspDemo::Create},
{"Gimpact Test", GimpactConcaveDemo::Create},
{"MultiThreaded", MultiThreadedDemo::Create},
{"Raytracer Test",Raytracer::Create},
{"GjkConvexCast",LinearConvexCastDemo::Create},
{"VehicleDemo",VehicleDemo::Create},

1
Demos/AllBulletDemos/Jamfile
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@@ -14,6 +14,7 @@ FrameWorkDemo AllBulletDemos :
../ConvexDecompositionDemo/ConvexDecompositionDemo.cpp
../RagdollDemo/RagdollDemo.cpp
../GimpactTestDemo/GimpactTestDemo.cpp
../MultiThreadedDemo/MultiThreadedDemo.cpp
../Raytracer/Raytracer.cpp
../GjkConvexCastDemo/LinearConvexCastDemo.cpp
../VehicleDemo/VehicleDemo.cpp

142
Demos/MultiThreadedDemo/MultiThreadedDemo.cpp
View File

@@ -26,7 +26,7 @@ subject to the following restrictions:
//#define CENTER_OF_MASS_SHIFT 1
//#define VERBOSE_TIMESTEPPING_CONSOLEOUTPUT 1
#define USE_PARALLEL_SOLVER 1 //experimental parallel solver
//#define USE_PARALLEL_SOLVER 1 //experimental parallel solver
#define USE_PARALLEL_DISPATCHER 1
//following define allows to compare/replace Bullet's constraint solver with ODE quickstep
@@ -81,8 +81,6 @@ subject to the following restrictions:
#include "GlutStuff.h"
btTransform comOffset;
btVector3 comOffsetVec(0,2,0);
extern float eye[3];
extern int glutScreenWidth;
@@ -91,12 +89,6 @@ extern int glutScreenHeight;
const int maxProxies = 32766;
const int maxOverlap = 65535;
bool createConstraint = true;//false;
#ifdef CENTER_OF_MASS_SHIFT
bool useCompound = true;
#else
bool useCompound = false;
#endif
@@ -109,7 +101,7 @@ const int gNumObjects = 120;//try this in release mode: 3000. never go above 163
const int maxNumObjects = 32760;
int shapeIndex[maxNumObjects];
static int shapeIndex[maxNumObjects];
#define CUBE_HALF_EXTENTS 0.5
@@ -155,44 +147,6 @@ void MultiThreadedDemo::createStack( btCollisionShape* boxShape, float halfCubeS
//by default, Bullet will use its own nearcallback, but you can override it using dispatcher->setNearCallback()
void customNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, btDispatcherInfo& dispatchInfo)
{
btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
if (dispatcher.needsCollision(colObj0,colObj1))
{
//dispatcher will keep algorithms persistent in the collision pair
if (!collisionPair.m_algorithm)
{
collisionPair.m_algorithm = dispatcher.findAlgorithm(colObj0,colObj1);
}
if (collisionPair.m_algorithm)
{
btManifoldResult contactPointResult(colObj0,colObj1);
if (dispatchInfo.m_dispatchFunc == btDispatcherInfo::DISPATCH_DISCRETE)
{
//discrete collision detection query
collisionPair.m_algorithm->processCollision(colObj0,colObj1,dispatchInfo,&contactPointResult);
} else
{
//continuous collision detection query, time of impact (toi)
float toi = collisionPair.m_algorithm->calculateTimeOfImpact(colObj0,colObj1,dispatchInfo,&contactPointResult);
if (dispatchInfo.m_timeOfImpact > toi)
dispatchInfo.m_timeOfImpact = toi;
}
}
}
}
//experimental jitter damping (1 = no damping, 0 = total damping once motion below threshold)
@@ -318,13 +272,6 @@ void MultiThreadedDemo::displayCallback(void) {
///User-defined friction model, the most simple friction model available: no friction
float myFrictionModel( btRigidBody& body1, btRigidBody& body2, btManifoldPoint& contactPoint, const btContactSolverInfo& solverInfo )
{
//don't do any friction
return 0.f;
}
void MultiThreadedDemo::initPhysics()
{
#ifdef USE_PARALLEL_DISPATCHER
@@ -493,91 +440,6 @@ int maxNumOutstandingTasks = 4;
shapeIndex[i] = 0;
}
if (useCompound)
{
btCompoundShape* compoundShape = new btCompoundShape();
btCollisionShape* oldShape = m_collisionShapes[1];
m_collisionShapes[1] = compoundShape;
btVector3 sphereOffset(0,0,2);
comOffset.setIdentity();
#ifdef CENTER_OF_MASS_SHIFT
comOffset.setOrigin(comOffsetVec);
compoundShape->addChildShape(comOffset,oldShape);
#else
compoundShape->addChildShape(tr,oldShape);
tr.setOrigin(sphereOffset);
compoundShape->addChildShape(tr,new btSphereShape(0.9));
#endif
}
#ifdef DO_WALL
for (i=0;i<gNumObjects;i++)
{
btCollisionShape* shape = m_collisionShapes[shapeIndex[i]];
shape->setMargin(gCollisionMargin);
bool isDyna = i>0;
btTransform trans;
trans.setIdentity();
if (i>0)
{
//stack them
int colsize = 10;
int row = (i*CUBE_HALF_EXTENTS*2)/(colsize*2*CUBE_HALF_EXTENTS);
int row2 = row;
int col = (i)%(colsize)-colsize/2;
if (col>3)
{
col=11;
row2 |=1;
}
btVector3 pos(col*2*CUBE_HALF_EXTENTS + (row2%2)*CUBE_HALF_EXTENTS,
row*2*CUBE_HALF_EXTENTS+CUBE_HALF_EXTENTS+EXTRA_HEIGHT,0);
trans.setOrigin(pos);
} else
{
trans.setOrigin(btVector3(0,EXTRA_HEIGHT-CUBE_HALF_EXTENTS,0));
}
float mass = 1.f;
if (!isDyna)
mass = 0.f;
btRigidBody* body = localCreateRigidBody(mass,trans,shape);
#ifdef USE_KINEMATIC_GROUND
if (mass == 0.f)
{
body->setCollisionFlags( body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
body->setActivationState(DISABLE_DEACTIVATION);
}
#endif //USE_KINEMATIC_GROUND
// Only do CCD if motion in one timestep (1.f/60.f) exceeds CUBE_HALF_EXTENTS
body->setCcdSquareMotionThreshold( CUBE_HALF_EXTENTS );
//Experimental: better estimation of CCD Time of Impact:
body->setCcdSweptSphereRadius( 0.2*CUBE_HALF_EXTENTS );
#ifdef USER_DEFINED_FRICTION_MODEL
///Advanced use: override the friction solver
body->m_frictionSolverType = USER_CONTACT_SOLVER_TYPE1;
#endif //USER_DEFINED_FRICTION_MODEL
}
#endif
#ifdef DO_BENCHMARK_PYRAMIDS
btTransform trans;