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revert due to crashes on windows, when simulation speed is increased

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This commit is contained in:
Erwin Coumans
2017-06-05 14:15:51 -07:00
parent 444f206c7c
commit b5962ab148
2 changed files with 407 additions and 800 deletions
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1047
examples/Evolution/NN3DWalkers.cpp
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22
examples/Evolution/NN3DWalkersTimeWarpBase.h
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@@ -208,8 +208,7 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
CommonRigidBodyBase(helper), CommonRigidBodyBase(helper),
mPhysicsStepsPerSecondUpdated(false), mPhysicsStepsPerSecondUpdated(false),
mFramesPerSecondUpdated(false), mFramesPerSecondUpdated(false),
mSolverIterationsUpdated(false), mSolverIterationsUpdated(false) {
mIsHeadless(false){
// main frame timer initialization // main frame timer initialization
mApplicationStart = mLoopTimer.getTimeMilliseconds(); /**!< Initialize when the application started running */ mApplicationStart = mLoopTimer.getTimeMilliseconds(); /**!< Initialize when the application started running */
@@ -520,7 +519,7 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
m_collisionConfiguration); m_collisionConfiguration);
} }
changeERPCFM(); // set appropriate ERP/CFM values according to the spring and damper properties of the constraint changeERPCFM(); // set appropriate ERP/CFM values according to the string and damper properties of the constraint
if (useSplitImpulse) { // If you experience strong repulsion forces in your constraints, it might help to enable the split impulse feature if (useSplitImpulse) { // If you experience strong repulsion forces in your constraints, it might help to enable the split impulse feature
m_dynamicsWorld->getSolverInfo().m_splitImpulse = 1; //enable split impulse feature m_dynamicsWorld->getSolverInfo().m_splitImpulse = 1; //enable split impulse feature
@@ -537,7 +536,7 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
m_dynamicsWorld->getSolverInfo().m_numIterations = gSolverIterations; // set the number of solver iterations for iteration based solvers m_dynamicsWorld->getSolverInfo().m_numIterations = gSolverIterations; // set the number of solver iterations for iteration based solvers
m_dynamicsWorld->setGravity(btVector3(0, btScalar(-9.81f), 0)); // set gravity to -9.81 m_dynamicsWorld->setGravity(btVector3(0, -9.81f, 0)); // set gravity to -9.81
} }
@@ -552,7 +551,7 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
virtual void performModelUpdate(float deltaTime) // Override this void timeWarpSimulation(float deltaTime) // Override this
{ {
} }
@@ -560,7 +559,7 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
void stepSimulation(float deltaTime){ // customly step the simulation void stepSimulation(float deltaTime){ // customly step the simulation
do{ do{
// settings // // settings
if(mPhysicsStepsPerSecondUpdated){ if(mPhysicsStepsPerSecondUpdated){
changePhysicsStepsPerSecond(gPhysicsStepsPerSecond); changePhysicsStepsPerSecond(gPhysicsStepsPerSecond);
mPhysicsStepsPerSecondUpdated = false; mPhysicsStepsPerSecondUpdated = false;
@@ -591,10 +590,10 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
//############# //#############
// model update - here you perform updates of your model, be it the physics model, the game or simulation state or anything not related to graphics and input // model update - here you perform updates of your model, be it the physics model, the game or simulation state or anything not related to graphics and input
performModelUpdate(deltaTime); timeWarpSimulation(deltaTime);
if(mLoopTimer.getTimeSeconds() - speedUpPrintTimeStamp > 1){ if(mLoopTimer.getTimeSeconds() - speedUpPrintTimeStamp > 1){
// on reset, we calculate the performed speed up // on reset, we calculate the performed speed up
double speedUp = ((double)performedTime*1000.0)/((double)(mLoopTimer.getTimeMilliseconds()-performanceTimestamp)); //double speedUp = ((double)performedTime*1000.0)/((double)(mLoopTimer.getTimeMilliseconds()-performanceTimestamp));
// b3Printf("Avg Effective speedup: %f",speedUp); // b3Printf("Avg Effective speedup: %f",speedUp);
performedTime = 0; performedTime = 0;
performanceTimestamp = mLoopTimer.getTimeMilliseconds(); performanceTimestamp = mLoopTimer.getTimeMilliseconds();
@@ -613,7 +612,7 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
mModelStart = mLoopTimer.getTimeMilliseconds(); /**!< Begin with the model update (in Milliseconds)*/ mModelStart = mLoopTimer.getTimeMilliseconds(); /**!< Begin with the model update (in Milliseconds)*/
mLastGraphicsTick = mModelStart - mGraphicsStart; /**!< Update graphics timer (in Milliseconds) */ mLastGraphicsTick = mModelStart - mGraphicsStart; /**!< Update graphics timer (in Milliseconds) */
if (gMaximumSpeed) { /** If maximum speed is enabled*/ if (gMaximumSpeed /** If maximum speed is enabled*/) {
performMaxStep(); performMaxStep();
} else { /**!< This mode tries to progress as much time as it is expected from the game loop*/ } else { /**!< This mode tries to progress as much time as it is expected from the game loop*/
performSpeedStep(); performSpeedStep();
@@ -753,9 +752,10 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
for (int i = 0; i < subSteps; i++) { /**!< Perform the number of substeps to reach the timestep*/ for (int i = 0; i < subSteps; i++) { /**!< Perform the number of substeps to reach the timestep*/
if (timeStep && m_dynamicsWorld) { if (timeStep && m_dynamicsWorld) {
int subSteps = 1; // since we want to perform all proper steps, we perform no interpolated substeps // since we want to perform all proper steps, we perform no interpolated substeps
int subSteps = 1;
m_dynamicsWorld->stepSimulation(btScalar(fixedPhysicsStepSizeSec), m_dynamicsWorld->stepSimulation(btScalar(timeStep),
btScalar(subSteps), btScalar(fixedPhysicsStepSizeSec)); btScalar(subSteps), btScalar(fixedPhysicsStepSizeSec));
} }
} }