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Attempts to improve performance. Not much gain yet, but good to experiment what has effect and what hasn't.

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Added 'DO_BENCHMARK_PYRAMID' to CcdPhysicsDemo.
This commit is contained in:
ejcoumans
2007-03-20 20:12:23 +00:00
parent f8fe7e8f2d
commit c1a54d9edc
19 changed files with 356 additions and 234 deletions
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133
Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
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@@ -12,11 +12,18 @@ subject to the following restrictions:
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
//enable just one, DO_BENCHMARK_PYRAMIDS or DO_WALL
//#define DO_BENCHMARK_PYRAMIDS 1
#define DO_WALL 1
//Note: some of those settings need 'DO_WALL' demo
//#define USE_KINEMATIC_GROUND 1
//#define PRINT_CONTACT_STATISTICS 1
//#define REGISTER_CUSTOM_COLLISION_ALGORITHM 1
//#define REGISTER_BOX_BOX 1 //needs to be used in combination with REGISTER_CUSTOM_COLLISION_ALGORITHM
//#define USER_DEFINED_FRICTION_MODEL 1
#define USE_CUSTOM_NEAR_CALLBACK 1
//#define USE_CUSTOM_NEAR_CALLBACK 1
//#define CENTER_OF_MASS_SHIFT 1
//following define allows to compare/replace Bullet's constraint solver with ODE quickstep
@@ -26,7 +33,9 @@ subject to the following restrictions:
#include "btBulletDynamicsCommon.h"
#include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h"
//#include "../Extras/AlternativeCollisionAlgorithms/BoxBoxCollisionAlgorithm.h"
#ifdef REGISTER_BOX_BOX
#include "../Extras/AlternativeCollisionAlgorithms/BoxBoxCollisionAlgorithm.h"
#endif //REGISTER_BOX_BOX
#include "BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h"
#ifdef COMPARE_WITH_QUICKSTEP
@@ -58,7 +67,11 @@ 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
@@ -74,9 +87,9 @@ const int maxNumObjects = 32760;
int shapeIndex[maxNumObjects];
#define CUBE_HALF_EXTENTS 1
#define CUBE_HALF_EXTENTS 0.5
#define EXTRA_HEIGHT -20.f
#define EXTRA_HEIGHT -10.f
//GL_LineSegmentShape shapeE(btPoint3(-50,0,0),
// btPoint3(50,0,0));
static const int numShapes = 4;
@@ -90,14 +103,18 @@ btCollisionShape* shapePtr[numShapes] =
#ifdef USE_GROUND_PLANE
new btStaticPlaneShape(btVector3(0,1,0),10),
#else
new btBoxShape (btVector3(50,10,50)),
new btBoxShape (btVector3(200,CUBE_HALF_EXTENTS,200)),
#endif
#ifdef DO_BENCHMARK_PYRAMIDS
new btBoxShape (btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)),
#else
new btCylinderShape (btVector3(CUBE_HALF_EXTENTS-gCollisionMargin,CUBE_HALF_EXTENTS-gCollisionMargin,CUBE_HALF_EXTENTS-gCollisionMargin)),
#endif
//new btSphereShape (CUBE_HALF_EXTENTS),
//new btCapsuleShape(0.5*CUBE_HALF_EXTENTS-gCollisionMargin,CUBE_HALF_EXTENTS-gCollisionMargin),
//new btCylinderShape (btVector3(1-gCollisionMargin,CUBE_HALF_EXTENTS-gCollisionMargin,1-gCollisionMargin)),
//new btBoxShape (btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)),
//new btConeShape(CUBE_HALF_EXTENTS-gCollisionMargin,2.f*CUBE_HALF_EXTENTS-gCollisionMargin),
new btSphereShape (CUBE_HALF_EXTENTS),
@@ -111,6 +128,31 @@ btCollisionShape* shapePtr[numShapes] =
};
void CcdPhysicsDemo::createStack( btCollisionShape* boxShape, float halfCubeSize, int size, float zPos )
{
btTransform trans;
trans.setIdentity();
for(int i=0; i<size; i++)
{
// This constructs a row, from left to right
int rowSize = size - i;
for(int j=0; j< rowSize; j++)
{
btVector4 pos;
pos.setValue(
-rowSize * halfCubeSize + halfCubeSize + j * 2.0f * halfCubeSize,
halfCubeSize + i * halfCubeSize * 2.0f,
zPos);
trans.setOrigin(pos);
btScalar mass = 1.f;
btRigidBody* body = localCreateRigidBody(mass,trans,boxShape);
}
}
}
////////////////////////////////////
@@ -168,7 +210,9 @@ int main(int argc,char** argv)
ccdDemo->initPhysics();
#ifdef DO_BENCHMARK_PYRAMIDS
ccdDemo->setCameraDistance(26.f);
#endif
return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bullet.sf.net",ccdDemo);
}
@@ -206,29 +250,28 @@ void CcdPhysicsDemo::clientMoveAndDisplay()
float dt = m_clock.getTimeMicroseconds() * 0.000001f;
m_clock.reset();
printf("dt = %f: ",dt);
// printf("dt = %f: ",dt);
if (m_dynamicsWorld)
{
//swap solver
#ifdef COMPARE_WITH_QUICKSTEP
if (m_debugMode & btIDebugDraw::DBG_DisableBulletLCP)
{
m_dynamicsWorld->setConstraintSolver( new OdeConstraintSolver());
} else
{
m_dynamicsWorld->setConstraintSolver( new btSequentialImpulseConstraintSolver());
}
m_dynamicsWorld->setConstraintSolver( new OdeConstraintSolver());
#endif //COMPARE_WITH_QUICKSTEP
#define FIXED_STEP 1
#ifdef FIXED_STEP
m_dynamicsWorld->stepSimulation(1.0f/60.f,0);
#else
//during idle mode, just run 1 simulation step maximum
int maxSimSubSteps = m_idle ? 1 : 1;
if (m_idle)
dt = 1.0/420.f;
int numSimSteps = m_dynamicsWorld->stepSimulation(dt,maxSimSubSteps);
/*
if (!numSimSteps)
printf("Interpolated transforms\n");
else
@@ -242,6 +285,9 @@ void CcdPhysicsDemo::clientMoveAndDisplay()
printf("Simulated (%i) steps\n",numSimSteps);
}
}
*/
#endif
}
#ifdef USE_QUICKPROF
@@ -336,6 +382,9 @@ float myFrictionModel( btRigidBody& body1, btRigidBody& body2, btManifoldPoint&
void CcdPhysicsDemo::initPhysics()
{
#ifdef DO_BENCHMARK_PYRAMIDS
m_azi = 90.f;
#endif //DO_BENCHMARK_PYRAMIDS
btCollisionDispatcher* dispatcher = new btCollisionDispatcher();
@@ -344,8 +393,8 @@ void CcdPhysicsDemo::initPhysics()
dispatcher->setNearCallback(customNearCallback);
#endif
btVector3 worldAabbMin(-10000,-10000,-10000);
btVector3 worldAabbMax(10000,10000,10000);
btVector3 worldAabbMin(-1000,-1000,-1000);
btVector3 worldAabbMax(1000,1000,1000);
btOverlappingPairCache* broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
// btOverlappingPairCache* broadphase = new btSimpleBroadphase;
@@ -353,7 +402,9 @@ void CcdPhysicsDemo::initPhysics()
#ifdef REGISTER_CUSTOM_COLLISION_ALGORITHM
dispatcher->registerCollisionCreateFunc(SPHERE_SHAPE_PROXYTYPE,SPHERE_SHAPE_PROXYTYPE,new btSphereSphereCollisionAlgorithm::CreateFunc);
//box-box is in Extras/AlternativeCollisionAlgorithms:it requires inclusion of those files
//dispatcher->registerCollisionCreateFunc(BOX_SHAPE_PROXYTYPE,BOX_SHAPE_PROXYTYPE,new BoxBoxCollisionAlgorithm::CreateFunc);
#ifdef REGISTER_BOX_BOX
dispatcher->registerCollisionCreateFunc(BOX_SHAPE_PROXYTYPE,BOX_SHAPE_PROXYTYPE,new BoxBoxCollisionAlgorithm::CreateFunc);
#endif //REGISTER_BOX_BOX
dispatcher->registerCollisionCreateFunc(SPHERE_SHAPE_PROXYTYPE,TRIANGLE_SHAPE_PROXYTYPE,new btSphereTriangleCollisionAlgorithm::CreateFunc);
btSphereTriangleCollisionAlgorithm::CreateFunc* triangleSphereCF = new btSphereTriangleCollisionAlgorithm::CreateFunc;
triangleSphereCF->m_swapped = true;
@@ -370,6 +421,10 @@ void CcdPhysicsDemo::initPhysics()
#endif
#ifdef USER_DEFINED_FRICTION_MODEL
//user defined friction model is not supported in 'cache friendly' solver yet, so switch to old solver
solver->setSolverMode(btSequentialImpulseConstraintSolver::SOLVER_RANDMIZE_ORDER);
#endif //USER_DEFINED_FRICTION_MODEL
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,broadphase,solver);
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
@@ -425,6 +480,8 @@ void CcdPhysicsDemo::initPhysics()
#endif
}
#ifdef DO_WALL
for (i=0;i<gNumObjects;i++)
{
btCollisionShape* shape = shapePtr[shapeIndex[i]];
@@ -456,7 +513,7 @@ void CcdPhysicsDemo::initPhysics()
trans.setOrigin(pos);
} else
{
trans.setOrigin(btVector3(0,-30,0));
trans.setOrigin(btVector3(0,EXTRA_HEIGHT-CUBE_HALF_EXTENTS,0));
}
float mass = 1.f;
@@ -486,9 +543,45 @@ void CcdPhysicsDemo::initPhysics()
#endif //USER_DEFINED_FRICTION_MODEL
}
#endif
clientResetScene();
#ifdef DO_BENCHMARK_PYRAMIDS
btTransform trans;
trans.setIdentity();
btScalar halfExtents = CUBE_HALF_EXTENTS;
trans.setOrigin(btVector3(0,-halfExtents,0));
localCreateRigidBody(0.f,trans,shapePtr[shapeIndex[0]]);
int numWalls = 10;
int wallHeight = 10;
float wallDistance = 3;
for (int i=0;i<numWalls;i++)
{
float zPos = (i-numWalls/2) * wallDistance;
createStack(shapePtr[shapeIndex[1]],halfExtents,wallHeight,zPos);
}
// createStack(shapePtr[shapeIndex[1]],halfExtends,20,10);
// createStack(shapePtr[shapeIndex[1]],halfExtends,20,20);
#define DESTROYER_BALL 1
#ifdef DESTROYER_BALL
btTransform sphereTrans;
sphereTrans.setIdentity();
sphereTrans.setOrigin(btVector3(0,2,40));
btSphereShape* ball = new btSphereShape(2.f);
btRigidBody* ballBody = localCreateRigidBody(10000.f,sphereTrans,ball);
ballBody->setLinearVelocity(btVector3(0,0,-10));
#endif
#endif //DO_BENCHMARK_PYRAMIDS
// clientResetScene();
}