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examples/BlockSolver/RigidBodyBoxes.cpp

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+#include "RigidBodyBoxes.h"
+#include "../CommonInterfaces/CommonParameterInterface.h"
+#include "../CommonInterfaces/CommonRigidBodyBase.h"
+#include "BlockSolverExample.h"
+#include "btBlockSolver.h"
+
+class RigidBodyBoxes : public CommonRigidBodyBase
+{
+	int m_option;
+	int m_numIterations;
+	int m_numBoxes = 4;
+	btAlignedObjectArray<btRigidBody*> boxes;
+	static btScalar numSolverIterations;
+
+public:
+	RigidBodyBoxes(GUIHelperInterface* helper, int option);
+	virtual ~RigidBodyBoxes();
+
+	virtual void initPhysics();
+
+	virtual void stepSimulation(float deltaTime);
+	void resetCubePosition();
+	virtual void resetCamera()
+	{
+		float dist = 3;
+		float pitch = -35;
+		float yaw = 50;
+		float targetPos[3] = {0, 0, .1};
+		m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1],
+								 targetPos[2]);
+	}
+
+	void createRigidBodyStack();
+};
+
+btScalar RigidBodyBoxes::numSolverIterations = 50;
+
+RigidBodyBoxes::RigidBodyBoxes(GUIHelperInterface* helper, int option)
+	: CommonRigidBodyBase(helper),
+	  m_option(option),
+	  m_numIterations(numSolverIterations)
+{
+	m_guiHelper->setUpAxis(2);
+}
+
+RigidBodyBoxes::~RigidBodyBoxes()
+{
+	// Do nothing
+}
+
+void RigidBodyBoxes::createRigidBodyStack()
+{
+	// create ground
+	btBoxShape* groundShape =
+		createBoxShape(btVector3(btScalar(5.), btScalar(5.), btScalar(5.)));
+	m_collisionShapes.push_back(groundShape);
+	btTransform groundTransform;
+	groundTransform.setIdentity();
+	groundTransform.setOrigin(btVector3(0, 0, -5));
+	btScalar mass(0.);
+	btRigidBody* body = createRigidBody(mass, groundTransform, groundShape,
+										btVector4(0, 0, 1, 1));
+
+	// create a few boxes
+	mass = 1;
+	for (int i = 0; i < m_numBoxes; i++)
+	{
+		btBoxShape* boxShape =
+			createBoxShape(btVector3(btScalar(.1), btScalar(.1), btScalar(.1)));
+		m_collisionShapes.push_back(boxShape);
+		mass *= 4;
+		btTransform tr;
+		tr.setIdentity();
+		tr.setOrigin(btVector3(0, 0, 0.1 + i * 0.2));
+		boxes.push_back(createRigidBody(mass, tr, boxShape));
+	}
+}
+
+void RigidBodyBoxes::initPhysics()
+{
+	/// collision configuration contains default setup for memory, collision setup
+	m_collisionConfiguration = new btDefaultCollisionConfiguration();
+
+	/// use the default collision dispatcher. For parallel processing you can use
+	/// a diffent dispatcher (see Extras/BulletMultiThreaded)
+	m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
+	m_broadphase = new btDbvtBroadphase();
+
+	{
+		SliderParams slider("numSolverIterations", &numSolverIterations);
+		slider.m_minVal = 5;
+		slider.m_maxVal = 500;
+		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+	}
+
+	if (m_option & BLOCK_SOLVER_SI)
+	{
+		m_solver = new btSequentialImpulseConstraintSolver;
+		b3Printf("Constraint Solver: Sequential Impulse");
+	}
+	if (m_option & BLOCK_SOLVER_BLOCK)
+	{
+		m_solver = new btBlockSolver();
+		b3Printf("Constraint Solver: Block solver");
+	}
+
+	btAssert(m_solver);
+
+	m_dynamicsWorld = new btDiscreteDynamicsWorld(
+		m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);
+	m_dynamicsWorld->setGravity(btVector3(0, 0, -10));
+
+	createRigidBodyStack();
+
+	m_dynamicsWorld->getSolverInfo().m_numIterations = numSolverIterations;
+	m_dynamicsWorld->getSolverInfo().m_globalCfm = btScalar(1e-6);
+
+	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+void RigidBodyBoxes::resetCubePosition()
+{
+	for (int i = 0; i < m_numBoxes; i++)
+	{
+		btTransform tr;
+		tr.setIdentity();
+		tr.setOrigin(btVector3(0, 0, 0.1 + i * 0.2));
+		boxes[i]->setWorldTransform(tr);
+	}
+}
+
+void RigidBodyBoxes::stepSimulation(float deltaTime)
+{
+	if ((int)numSolverIterations != m_numIterations)
+	{
+		resetCubePosition();
+		m_numIterations = (int)numSolverIterations;
+		m_dynamicsWorld->getSolverInfo().m_numIterations = m_numIterations;
+		b3Printf("New num iterations; %d", m_numIterations);
+	}
+
+	m_dynamicsWorld->stepSimulation(deltaTime);
+}
+
+CommonExampleInterface* RigidBodyBoxesCreateFunc(
+	CommonExampleOptions& options)
+{
+	return new RigidBodyBoxes(options.m_guiHelper, options.m_option);
+}

examples/BlockSolver/RigidBodyBoxes.h

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+#ifndef BLOCKSOLVER_RIGIDBODYBOXES_H_
+#define BLOCKSOLVER_RIGIDBODYBOXES_H_
+
+class CommonExampleInterface* RigidBodyBoxesCreateFunc(struct CommonExampleOptions& options);
+
+#endif  //BLOCKSOLVER_RIGIDBODYBOXES_H_