added MultiThreadedDemo
This commit is contained in:
ejcoumans
@@ -1,2 +1,2 @@
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SUBDIRS( OpenGL CcdPhysicsDemo ConstraintDemo GenericJointDemo RagdollDemo BasicDemo BspDemo MovingConcaveDemo VehicleDemo ColladaDemo UserCollisionAlgorithm )
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SUBDIRS( OpenGL MultiThreadedDemo CcdPhysicsDemo ConstraintDemo GenericJointDemo RagdollDemo BasicDemo BspDemo MovingConcaveDemo VehicleDemo ColladaDemo UserCollisionAlgorithm )
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@@ -35,7 +35,7 @@ if $(GLUT.AVAILABLE) = "yes"
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rule FrameWorkDemo
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{
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Application $(<) : $(>) : noinstall console nomanifest ;
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LinkWith $(<) : GIMPACTUtils GIMPACT bulletopenglsupport convexdecomposition bulletdynamics bulletcollision bulletmath glui ;
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LinkWith $(<) : GIMPACTUtils GIMPACT bulletopenglsupport bulletmultithreaded convexdecomposition bulletdynamics bulletcollision bulletmath glui ;
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CFlags $(<) :
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[ FIncludes $(TOP)/Extras ]
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[ FIncludes $(TOP)/Demos/OpenGL ]
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@@ -58,6 +58,7 @@ if $(GLUT.AVAILABLE) = "yes"
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SubInclude TOP Demos AllBulletDemos ;
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SubInclude TOP Demos CcdPhysicsDemo ;
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SubInclude TOP Demos UserCollisionAlgorithm ;
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SubInclude TOP Demos MultiThreadedDemo ;
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#SubInclude TOP Demos ForkLiftDemo ;
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SubInclude TOP Demos BulletDinoDemo ;
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SubInclude TOP Demos EPAPenDepthDemo ;
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63
Demos/MultiThreadedDemo/CMakeLists.txt
Normal file
63
Demos/MultiThreadedDemo/CMakeLists.txt
Normal file
@@ -0,0 +1,63 @@
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# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
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# For every executable you have with a main method you should have an add_executable line below.
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# For every add executable line you should list every .cpp and .h file you have associated with that executable.
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# This is the variable for Windows. I use this to define the root of my directory structure.
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SET(GLUT_ROOT ${BULLET_PHYSICS_SOURCE_DIR}/Glut)
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# You shouldn't have to modify anything below this line
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########################################################
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# This is the shortcut to finding GLU, GLUT and OpenGL if they are properly installed on your system
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# This should be the case.
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INCLUDE (${CMAKE_ROOT}/Modules/FindGLU.cmake)
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INCLUDE (${CMAKE_ROOT}/Modules/FindGLUT.cmake)
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INCLUDE (${CMAKE_ROOT}/Modules/FindOpenGL.cmake)
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IF (WIN32)
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# This is the Windows code for which Opengl, and Glut are not properly installed
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# since I can't install them I must cheat and copy libraries around
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INCLUDE_DIRECTORIES(${GLUT_ROOT})
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# LINK_DIRECTORIES(${GLUT_ROOT}\\lib)
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IF (${GLUT_glut_LIBRARY} MATCHES "GLUT_glut_LIBRARY-NOTFOUND")
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SET(GLUT_glut_LIBRARY ${BULLET_PHYSICS_SOURCE_DIR}/Glut/glut32.lib)
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# LINK_LIBRARIES(${GLUT_ROOT}\\lib\\glut32 ${OPENGL_gl_LIBRARY} ${OPENGL_glU_LIBRARY})
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# TARGET_LINK_LIBRARIES(table ${GLUT_ROOT}\\lib\\glut32)
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#
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# ADD_CUSTOM_COMMAND(TARGET table POST_BUILD COMMAND copy ${GLUT_ROOT}\\lib\\glut32.dll ${GLUT_ROOT}\\bin\\vs2005\\Debug
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# COMMAND copy ${GLUT_ROOT}\\lib\\glut32.dll ${GLUT_ROOT}\\bin\\vs2003\\Debug
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# COMMAND copy ${GLUT_ROOT}\\lib\\glut32.dll ${GLUT_ROOT}\\bin\\vs6\\Debug)
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ELSE (${GLUT_glut_LIBRARY} MATCHES "GLUT_glut_LIBRARY-NOTFOUND")
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# LINK_LIBRARIES(${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glU_LIBRARY})
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# TARGET_LINK_LIBRARIES(table ${GLUT_glut_LIBRARY})
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ENDIF(${GLUT_glut_LIBRARY} MATCHES "GLUT_glut_LIBRARY-NOTFOUND")
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# TARGET_LINK_LIBRARIES(table ${OPENGL_gl_LIBRARY})
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# TARGET_LINK_LIBRARIES(table ${OPENGL_glu_LIBRARY})
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ELSE (WIN32)
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# This is the lines for linux. This should always work if everything is installed and working fine.
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# SET(CMAKE_BUILD_TYPE Debug)
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# SET(CMAKE_CXX_FLAGS_DEBUG "-g")
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INCLUDE_DIRECTORIES(/usr/include /usr/local/include ${GLUT_INCLUDE_DIR})
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# TARGET_LINK_LIBRARIES(table ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glU_LIBRARY})
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# TARGET_LINK_LIBRARIES(checker ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glU_LIBRARY})
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ENDIF (WIN32)
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INCLUDE_DIRECTORIES(
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${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL }
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)
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LINK_LIBRARIES(
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LibOpenGLSupport LibBulletMultiThreaded LibBulletDynamics LibBulletCollision LibLinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
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)
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ADD_EXECUTABLE(MultiThreadedDemo
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main.cpp
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MultiThreadedDemo.cpp
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MultiThreadedDemo.h
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)
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3
Demos/MultiThreadedDemo/Jamfile
Normal file
3
Demos/MultiThreadedDemo/Jamfile
Normal file
@@ -0,0 +1,3 @@
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SubDir TOP Demos MultiThreadedDemo ;
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FrameWorkDemo MultiThreadedDemo : [ Wildcard *.h *.cpp ] ;
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690
Demos/MultiThreadedDemo/MultiThreadedDemo.cpp
Normal file
690
Demos/MultiThreadedDemo/MultiThreadedDemo.cpp
Normal file
@@ -0,0 +1,690 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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//enable just one, DO_BENCHMARK_PYRAMIDS or DO_WALL
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#define DO_BENCHMARK_PYRAMIDS 1
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//#define DO_WALL 1
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//Note: some of those settings need 'DO_WALL' demo
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//#define USE_KINEMATIC_GROUND 1
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//#define PRINT_CONTACT_STATISTICS 1
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//#define REGISTER_BOX_BOX 1 //needs to be used in combination with REGISTER_CUSTOM_COLLISION_ALGORITHM
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//#define USER_DEFINED_FRICTION_MODEL 1
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//#define USE_CUSTOM_NEAR_CALLBACK 1
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//#define CENTER_OF_MASS_SHIFT 1
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//#define VERBOSE_TIMESTEPPING_CONSOLEOUTPUT 1
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#define USE_PARALLEL_SOLVER 1 //experimental parallel solver
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#define USE_PARALLEL_DISPATCHER 1
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//following define allows to compare/replace Bullet's constraint solver with ODE quickstep
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//this define requires to either add the libquickstep library (win32, see msvc/8/libquickstep.vcproj) or manually add the files from Extras/quickstep
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//#define COMPARE_WITH_QUICKSTEP 1
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#include "btBulletDynamicsCommon.h"
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#include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h"
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#ifdef REGISTER_BOX_BOX
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#include "../Extras/AlternativeCollisionAlgorithms/BoxBoxCollisionAlgorithm.h"
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#endif //REGISTER_BOX_BOX
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#include "BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h"
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#ifdef USE_PARALLEL_DISPATCHER
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#include "../../Extras/BulletMultiThreaded/SpuGatheringCollisionDispatcher.h"
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#ifdef WIN32
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#endif //WIN32
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#ifdef USE_LIBSPE2
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#include "../../Extras/BulletMultiThreaded/SpuLibspe2Support.h"
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#elif defined (WIN32)
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#include "../../Extras/BulletMultiThreaded/Win32ThreadSupport.h"
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#include "../../Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h"
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#else
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//other platforms run the parallel code sequentially (until pthread support or other parallel implementation is added)
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#include "../../Extras/BulletMultiThreaded/SequentialThreadSupport.h"
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#include "../../Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h"
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#endif //USE_LIBSPE2
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#ifdef USE_PARALLEL_SOLVER
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#include "../../Extras/BulletMultiThreaded/SpuParallelSolver.h"
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#include "../../Extras/BulletMultiThreaded/SpuSolverTask/SpuParallellSolverTask.h"
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#endif //USE_PARALLEL_SOLVER
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#endif//USE_PARALLEL_DISPATCHER
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#ifdef COMPARE_WITH_QUICKSTEP
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#include "../Extras/quickstep/OdeConstraintSolver.h"
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#endif //COMPARE_WITH_QUICKSTEP
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#include "LinearMath/btQuickprof.h"
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#include "LinearMath/btIDebugDraw.h"
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#include "BMF_Api.h"
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#include <stdio.h> //printf debugging
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#include "MultiThreadedDemo.h"
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#include "GL_ShapeDrawer.h"
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#include "GlutStuff.h"
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btTransform comOffset;
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btVector3 comOffsetVec(0,2,0);
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extern float eye[3];
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extern int glutScreenWidth;
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extern int glutScreenHeight;
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const int maxProxies = 32766;
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const int maxOverlap = 65535;
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bool createConstraint = true;//false;
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#ifdef CENTER_OF_MASS_SHIFT
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bool useCompound = true;
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#else
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bool useCompound = false;
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#endif
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#ifdef _DEBUG
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const int gNumObjects = 120;
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#else
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const int gNumObjects = 120;//try this in release mode: 3000. never go above 16384, unless you increate maxNumObjects value in DemoApplication.cp
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#endif
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const int maxNumObjects = 32760;
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int shapeIndex[maxNumObjects];
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#define CUBE_HALF_EXTENTS 0.5
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#define EXTRA_HEIGHT -10.f
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//GL_LineSegmentShape shapeE(btPoint3(-50,0,0),
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// btPoint3(50,0,0));
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void MultiThreadedDemo::createStack( btCollisionShape* boxShape, float halfCubeSize, int size, float zPos )
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{
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btTransform trans;
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trans.setIdentity();
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for(int i=0; i<size; i++)
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{
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// This constructs a row, from left to right
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int rowSize = size - i;
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for(int j=0; j< rowSize; j++)
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{
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btVector4 pos;
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pos.setValue(
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-rowSize * halfCubeSize + halfCubeSize + j * 2.0f * halfCubeSize,
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halfCubeSize + i * halfCubeSize * 2.0f,
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zPos);
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trans.setOrigin(pos);
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btScalar mass = 1.f;
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btRigidBody* body = 0;
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body = localCreateRigidBody(mass,trans,boxShape);
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#ifdef USER_DEFINED_FRICTION_MODEL
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///Advanced use: override the friction solver
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body->m_frictionSolverType = USER_CONTACT_SOLVER_TYPE1;
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#endif //USER_DEFINED_FRICTION_MODEL
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}
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}
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}
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////////////////////////////////////
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//by default, Bullet will use its own nearcallback, but you can override it using dispatcher->setNearCallback()
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void customNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, btDispatcherInfo& dispatchInfo)
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{
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btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
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btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
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if (dispatcher.needsCollision(colObj0,colObj1))
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{
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//dispatcher will keep algorithms persistent in the collision pair
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if (!collisionPair.m_algorithm)
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{
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collisionPair.m_algorithm = dispatcher.findAlgorithm(colObj0,colObj1);
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}
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if (collisionPair.m_algorithm)
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{
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btManifoldResult contactPointResult(colObj0,colObj1);
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if (dispatchInfo.m_dispatchFunc == btDispatcherInfo::DISPATCH_DISCRETE)
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{
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//discrete collision detection query
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collisionPair.m_algorithm->processCollision(colObj0,colObj1,dispatchInfo,&contactPointResult);
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} else
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{
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//continuous collision detection query, time of impact (toi)
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float toi = collisionPair.m_algorithm->calculateTimeOfImpact(colObj0,colObj1,dispatchInfo,&contactPointResult);
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if (dispatchInfo.m_timeOfImpact > toi)
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dispatchInfo.m_timeOfImpact = toi;
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}
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}
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}
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}
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//experimental jitter damping (1 = no damping, 0 = total damping once motion below threshold)
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extern btScalar gJitterVelocityDampingFactor;
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extern int gNumManifold;
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extern int gOverlappingPairs;
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extern int gTotalContactPoints;
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void MultiThreadedDemo::clientMoveAndDisplay()
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{
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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#ifdef USE_KINEMATIC_GROUND
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//btQuaternion kinRotation(btVector3(0,0,1),0.);
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btVector3 kinTranslation(-0.01,0,0);
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//kinematic object
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btCollisionObject* colObj = m_dynamicsWorld->getCollisionObjectArray()[0];
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//is this a rigidbody with a motionstate? then use the motionstate to update positions!
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if (btRigidBody::upcast(colObj) && btRigidBody::upcast(colObj)->getMotionState())
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{
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btTransform newTrans;
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btRigidBody::upcast(colObj)->getMotionState()->getWorldTransform(newTrans);
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newTrans.getOrigin()+=kinTranslation;
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btRigidBody::upcast(colObj)->getMotionState()->setWorldTransform(newTrans);
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} else
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{
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m_dynamicsWorld->getCollisionObjectArray()[0]->getWorldTransform().getOrigin() += kinTranslation;
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}
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#endif //USE_KINEMATIC_GROUND
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float dt = m_clock.getTimeMicroseconds() * 0.000001f;
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m_clock.reset();
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// printf("dt = %f: ",dt);
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if (m_dynamicsWorld)
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{
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//#define FIXED_STEP 1
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#ifdef FIXED_STEP
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m_dynamicsWorld->stepSimulation(1.0f/60.f,0);
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#else
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//during idle mode, just run 1 simulation step maximum
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int maxSimSubSteps = m_idle ? 1 : 1;
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if (m_idle)
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dt = 1.0/420.f;
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int numSimSteps = 0;
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numSimSteps = m_dynamicsWorld->stepSimulation(dt,maxSimSubSteps);
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//optional but useful: debug drawing
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m_dynamicsWorld->debugDrawWorld();
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#ifdef VERBOSE_TIMESTEPPING_CONSOLEOUTPUT
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if (!numSimSteps)
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printf("Interpolated transforms\n");
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else
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{
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if (numSimSteps > maxSimSubSteps)
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{
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//detect dropping frames
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printf("Dropped (%i) simulation steps out of %i\n",numSimSteps - maxSimSubSteps,numSimSteps);
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} else
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{
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printf("Simulated (%i) steps\n",numSimSteps);
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}
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}
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#endif //VERBOSE_TIMESTEPPING_CONSOLEOUTPUT
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||||
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#endif
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}
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#ifdef USE_QUICKPROF
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btProfiler::beginBlock("render");
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#endif //USE_QUICKPROF
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renderme();
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//render the graphics objects, with center of mass shift
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updateCamera();
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||||
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||||
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||||
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#ifdef USE_QUICKPROF
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btProfiler::endBlock("render");
|
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#endif
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glFlush();
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//some additional debugging info
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||||
#ifdef PRINT_CONTACT_STATISTICS
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printf("num manifolds: %i\n",gNumManifold);
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printf("num gOverlappingPairs: %i\n",gOverlappingPairs);
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||||
printf("num gTotalContactPoints : %i\n",gTotalContactPoints );
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#endif //PRINT_CONTACT_STATISTICS
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gTotalContactPoints = 0;
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glutSwapBuffers();
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||||
}
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||||
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||||
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||||
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void MultiThreadedDemo::displayCallback(void) {
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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renderme();
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||||
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glFlush();
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||||
glutSwapBuffers();
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
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||||
///User-defined friction model, the most simple friction model available: no friction
|
||||
float myFrictionModel( btRigidBody& body1, btRigidBody& body2, btManifoldPoint& contactPoint, const btContactSolverInfo& solverInfo )
|
||||
{
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||||
//don't do any friction
|
||||
return 0.f;
|
||||
}
|
||||
|
||||
void MultiThreadedDemo::initPhysics()
|
||||
{
|
||||
#ifdef USE_PARALLEL_DISPATCHER
|
||||
#ifdef WIN32
|
||||
m_threadSupportSolver = 0;
|
||||
m_threadSupportCollision = 0;
|
||||
#endif //
|
||||
#endif
|
||||
|
||||
//#define USE_GROUND_PLANE 1
|
||||
#ifdef USE_GROUND_PLANE
|
||||
m_collisionShapes.push_back(new btStaticPlaneShape(btVector3(0,1,0),0.5));
|
||||
#else
|
||||
|
||||
///Please don't make the box sizes larger then 1000: the collision detection will be inaccurate.
|
||||
///See http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=346
|
||||
m_collisionShapes.push_back(new btBoxShape (btVector3(200,CUBE_HALF_EXTENTS,200)));
|
||||
#endif
|
||||
|
||||
#ifdef DO_BENCHMARK_PYRAMIDS
|
||||
m_collisionShapes.push_back(new btBoxShape (btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)));
|
||||
#else
|
||||
m_collisionShapes.push_back(new btCylinderShape (btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)));
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
#ifdef DO_BENCHMARK_PYRAMIDS
|
||||
setCameraDistance(32.5f);
|
||||
#endif
|
||||
|
||||
#ifdef DO_BENCHMARK_PYRAMIDS
|
||||
m_azi = 90.f;
|
||||
#endif //DO_BENCHMARK_PYRAMIDS
|
||||
|
||||
m_dispatcher=0;
|
||||
m_collisionConfiguration = new btDefaultCollisionConfiguration();
|
||||
|
||||
#ifdef USE_PARALLEL_DISPATCHER
|
||||
int maxNumOutstandingTasks = 4;
|
||||
|
||||
#ifdef USE_WIN32_THREADING
|
||||
|
||||
m_threadSupportCollision = new Win32ThreadSupport(Win32ThreadSupport::Win32ThreadConstructionInfo(
|
||||
"collision",
|
||||
processCollisionTask,
|
||||
createCollisionLocalStoreMemory,
|
||||
maxNumOutstandingTasks));
|
||||
#else
|
||||
|
||||
#ifdef USE_LIBSPE2
|
||||
|
||||
spe_program_handle_t * program_handle;
|
||||
#ifndef USE_CESOF
|
||||
program_handle = spe_image_open ("./spuCollision.elf");
|
||||
if (program_handle == NULL)
|
||||
{
|
||||
perror( "SPU OPEN IMAGE ERROR\n");
|
||||
}
|
||||
else
|
||||
{
|
||||
printf( "IMAGE OPENED\n");
|
||||
}
|
||||
#else
|
||||
extern spe_program_handle_t spu_program;
|
||||
program_handle = &spu_program;
|
||||
#endif
|
||||
SpuLibspe2Support* threadSupportCollision = new SpuLibspe2Support( program_handle, maxNumOutstandingTasks);
|
||||
#else
|
||||
|
||||
SequentialThreadSupport::SequentialThreadConstructionInfo colCI("collision",processCollisionTask,createCollisionLocalStoreMemory);
|
||||
SequentialThreadSupport* m_threadSupportCollision = new SequentialThreadSupport(colCI);
|
||||
|
||||
#endif //USE_LIBSPE2
|
||||
|
||||
///Playstation 3 SPU (SPURS) version is available through PS3 Devnet
|
||||
/// For Unix/Mac someone could implement a pthreads version of btThreadSupportInterface?
|
||||
///you can hook it up to your custom task scheduler by deriving from btThreadSupportInterface
|
||||
#endif
|
||||
|
||||
|
||||
m_dispatcher = new SpuGatheringCollisionDispatcher(m_threadSupportCollision,maxNumOutstandingTasks,m_collisionConfiguration);
|
||||
// m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
|
||||
#else
|
||||
|
||||
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
|
||||
#endif //USE_PARALLEL_DISPATCHER
|
||||
|
||||
#ifdef USE_CUSTOM_NEAR_CALLBACK
|
||||
//this is optional
|
||||
m_dispatcher->setNearCallback(customNearCallback);
|
||||
#endif
|
||||
|
||||
btVector3 worldAabbMin(-1000,-1000,-1000);
|
||||
btVector3 worldAabbMax(1000,1000,1000);
|
||||
|
||||
m_broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
|
||||
/// For large worlds or over 16384 objects, use the bt32BitAxisSweep3 broadphase
|
||||
// m_broadphase = new bt32BitAxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
|
||||
/// When trying to debug broadphase issues, try to use the btSimpleBroadphase
|
||||
// m_broadphase = new btSimpleBroadphase;
|
||||
|
||||
//box-box is in Extras/AlternativeCollisionAlgorithms:it requires inclusion of those files
|
||||
#ifdef REGISTER_BOX_BOX
|
||||
m_dispatcher->registerCollisionCreateFunc(BOX_SHAPE_PROXYTYPE,BOX_SHAPE_PROXYTYPE,new BoxBoxCollisionAlgorithm::CreateFunc);
|
||||
#endif //REGISTER_BOX_BOX
|
||||
|
||||
#ifdef COMPARE_WITH_QUICKSTEP
|
||||
m_solver = new OdeConstraintSolver();
|
||||
#else
|
||||
|
||||
|
||||
#ifdef USE_PARALLEL_SOLVER
|
||||
|
||||
#ifdef USE_WIN32_THREADING
|
||||
m_threadSupportSolver = new Win32ThreadSupport(Win32ThreadSupport::Win32ThreadConstructionInfo(
|
||||
"solver",
|
||||
processSolverTask,
|
||||
createSolverLocalStoreMemory,
|
||||
maxNumOutstandingTasks));
|
||||
|
||||
#else
|
||||
//for now use sequential version
|
||||
SequentialThreadSupport::SequentialThreadConstructionInfo solverCI("solver",processSolverTask,createSolverLocalStoreMemory);
|
||||
m_threadSupportSolver = new SequentialThreadSupport(solverCI);
|
||||
|
||||
#endif //USE_WIN32_THREADING
|
||||
m_solver = new btParallelSequentialImpulseSolver(m_threadSupportSolver,maxNumOutstandingTasks);
|
||||
|
||||
#else
|
||||
|
||||
btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver();
|
||||
|
||||
m_solver = solver;
|
||||
//default solverMode is SOLVER_RANDMIZE_ORDER. Warmstarting seems not to improve convergence, see
|
||||
//solver->setSolverMode(0);//btSequentialImpulseConstraintSolver::SOLVER_USE_WARMSTARTING | btSequentialImpulseConstraintSolver::SOLVER_RANDMIZE_ORDER);
|
||||
|
||||
#endif //USE_PARALLEL_SOLVER
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
btDiscreteDynamicsWorld* world = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
|
||||
m_dynamicsWorld = world;
|
||||
|
||||
world->getSolverInfo().m_numIterations = 4;
|
||||
|
||||
m_dynamicsWorld->getDispatchInfo().m_enableSPU = true;
|
||||
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
|
||||
|
||||
|
||||
|
||||
int i;
|
||||
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
|
||||
|
||||
for (i=0;i<gNumObjects;i++)
|
||||
{
|
||||
if (i>0)
|
||||
{
|
||||
shapeIndex[i] = 1;//sphere
|
||||
}
|
||||
else
|
||||
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;
|
||||
trans.setIdentity();
|
||||
|
||||
btScalar halfExtents = CUBE_HALF_EXTENTS;
|
||||
|
||||
trans.setOrigin(btVector3(0,-halfExtents,0));
|
||||
|
||||
|
||||
|
||||
localCreateRigidBody(0.f,trans,m_collisionShapes[shapeIndex[0]]);
|
||||
|
||||
int numWalls = 15;
|
||||
int wallHeight = 15;
|
||||
float wallDistance = 3;
|
||||
|
||||
|
||||
for (int i=0;i<numWalls;i++)
|
||||
{
|
||||
float zPos = (i-numWalls/2) * wallDistance;
|
||||
createStack(m_collisionShapes[shapeIndex[1]],halfExtents,wallHeight,zPos);
|
||||
}
|
||||
// createStack(m_collisionShapes[shapeIndex[1]],halfExtends,20,10);
|
||||
|
||||
// createStack(m_collisionShapes[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);
|
||||
m_collisionShapes.push_back(ball);
|
||||
btRigidBody* ballBody = localCreateRigidBody(10000.f,sphereTrans,ball);
|
||||
ballBody->setLinearVelocity(btVector3(0,0,-10));
|
||||
#endif
|
||||
#endif //DO_BENCHMARK_PYRAMIDS
|
||||
// clientResetScene();
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
void MultiThreadedDemo::exitPhysics()
|
||||
{
|
||||
|
||||
|
||||
//cleanup in the reverse order of creation/initialization
|
||||
|
||||
//remove the rigidbodies from the dynamics world and delete them
|
||||
int i;
|
||||
for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
|
||||
{
|
||||
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
|
||||
btRigidBody* body = btRigidBody::upcast(obj);
|
||||
if (body && body->getMotionState())
|
||||
{
|
||||
delete body->getMotionState();
|
||||
}
|
||||
m_dynamicsWorld->removeCollisionObject( obj );
|
||||
delete obj;
|
||||
}
|
||||
|
||||
//delete collision shapes
|
||||
for (int j=0;j<m_collisionShapes.size();j++)
|
||||
{
|
||||
btCollisionShape* shape = m_collisionShapes[j];
|
||||
m_collisionShapes[j] = 0;
|
||||
delete shape;
|
||||
}
|
||||
|
||||
//delete dynamics world
|
||||
delete m_dynamicsWorld;
|
||||
|
||||
//delete solver
|
||||
delete m_solver;
|
||||
#ifdef USE_PARALLEL_DISPATCHER
|
||||
#ifdef WIN32
|
||||
if (m_threadSupportSolver)
|
||||
{
|
||||
delete m_threadSupportSolver;
|
||||
}
|
||||
#endif
|
||||
#endif
|
||||
|
||||
//delete broadphase
|
||||
delete m_broadphase;
|
||||
|
||||
//delete dispatcher
|
||||
delete m_dispatcher;
|
||||
|
||||
#ifdef USE_PARALLEL_DISPATCHER
|
||||
#ifdef WIN32
|
||||
if (m_threadSupportCollision)
|
||||
{
|
||||
delete m_threadSupportCollision;
|
||||
}
|
||||
#endif
|
||||
#endif
|
||||
|
||||
delete m_collisionConfiguration;
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
79
Demos/MultiThreadedDemo/MultiThreadedDemo.h
Normal file
79
Demos/MultiThreadedDemo/MultiThreadedDemo.h
Normal file
@@ -0,0 +1,79 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
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.
|
||||
*/
|
||||
#ifndef MULTI_THREADED_DEMO_H
|
||||
#define MULTI_THREADED_DEMO_H
|
||||
|
||||
#include "DemoApplication.h"
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
|
||||
class btBroadphaseInterface;
|
||||
class btCollisionShape;
|
||||
class btOverlappingPairCache;
|
||||
class btCollisionDispatcher;
|
||||
class btConstraintSolver;
|
||||
struct btCollisionAlgorithmCreateFunc;
|
||||
class btDefaultCollisionConfiguration;
|
||||
|
||||
|
||||
///MultiThreadedDemo shows basic stacking using Bullet physics, and allows toggle of Ccd (using key '1')
|
||||
class MultiThreadedDemo : public DemoApplication
|
||||
{
|
||||
|
||||
//keep the collision shapes, for deletion/cleanup
|
||||
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
|
||||
|
||||
btBroadphaseInterface* m_broadphase;
|
||||
|
||||
btCollisionDispatcher* m_dispatcher;
|
||||
|
||||
class btThreadSupportInterface* m_threadSupportCollision;
|
||||
class btThreadSupportInterface* m_threadSupportSolver;
|
||||
|
||||
btConstraintSolver* m_solver;
|
||||
|
||||
btCollisionAlgorithmCreateFunc* m_boxBoxCF;
|
||||
|
||||
btDefaultCollisionConfiguration* m_collisionConfiguration;
|
||||
|
||||
|
||||
public:
|
||||
|
||||
void initPhysics();
|
||||
|
||||
void exitPhysics();
|
||||
|
||||
virtual ~MultiThreadedDemo()
|
||||
{
|
||||
exitPhysics();
|
||||
}
|
||||
|
||||
virtual void clientMoveAndDisplay();
|
||||
|
||||
virtual void displayCallback();
|
||||
|
||||
void createStack( btCollisionShape* boxShape, float halfCubeSize, int size, float zPos );
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
MultiThreadedDemo* demo = new MultiThreadedDemo;
|
||||
demo->myinit();
|
||||
demo->initPhysics();
|
||||
return demo;
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
#endif //MULTI_THREADED_DEMO_H
|
||||
|
||||
36
Demos/MultiThreadedDemo/main.cpp
Normal file
36
Demos/MultiThreadedDemo/main.cpp
Normal file
@@ -0,0 +1,36 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
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.
|
||||
*/
|
||||
|
||||
#include "MultiThreadedDemo.h"
|
||||
#include "GlutStuff.h"
|
||||
#include "GLDebugDrawer.h"
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
|
||||
GLDebugDrawer gDebugDrawer;
|
||||
|
||||
int main(int argc,char** argv)
|
||||
{
|
||||
|
||||
MultiThreadedDemo* demo = new MultiThreadedDemo();
|
||||
|
||||
demo->initPhysics();
|
||||
demo->getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
|
||||
|
||||
|
||||
glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bullet.sf.net",demo);
|
||||
|
||||
delete demo;
|
||||
|
||||
}
|
||||
@@ -171,14 +171,9 @@ struct CollisionTask_LocalStoreMemory
|
||||
|
||||
|
||||
|
||||
#ifdef WIN32
|
||||
void* createCollisionLocalStoreMemory()
|
||||
{
|
||||
return new CollisionTask_LocalStoreMemory;
|
||||
};
|
||||
|
||||
|
||||
#elif defined(__CELLOS_LV2__) || defined(USE_LIBSPE2)
|
||||
#if defined(__CELLOS_LV2__) || defined(USE_LIBSPE2)
|
||||
|
||||
ATTRIBUTE_ALIGNED16(CollisionTask_LocalStoreMemory gLocalStoreMemory);
|
||||
|
||||
@@ -186,6 +181,12 @@ void* createCollisionLocalStoreMemory()
|
||||
{
|
||||
return &gLocalStoreMemory;
|
||||
}
|
||||
#else
|
||||
void* createCollisionLocalStoreMemory()
|
||||
{
|
||||
return new CollisionTask_LocalStoreMemory;
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
@@ -55,14 +55,8 @@ struct SolverTask_LocalStoreMemory
|
||||
};
|
||||
|
||||
|
||||
#ifdef WIN32
|
||||
void* createSolverLocalStoreMemory()
|
||||
{
|
||||
return new SolverTask_LocalStoreMemory;
|
||||
};
|
||||
|
||||
|
||||
#elif defined(__CELLOS_LV2__)
|
||||
#if defined(__CELLOS_LV2__) || defined (LIBSPE2)
|
||||
|
||||
ATTRIBUTE_ALIGNED16(SolverTask_LocalStoreMemory gLocalStoreMemory);
|
||||
|
||||
@@ -70,6 +64,12 @@ void* createSolverLocalStoreMemory()
|
||||
{
|
||||
return &gLocalStoreMemory;
|
||||
}
|
||||
#else
|
||||
void* createSolverLocalStoreMemory()
|
||||
{
|
||||
return new SolverTask_LocalStoreMemory;
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user