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adjusted demos to include SoftDemo into AllBulletDemos

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This commit is contained in:
erwin.coumans
2008-03-31 00:03:35 +00:00
parent 8a9f66b357
commit c7b526abfa
6 changed files with 21 additions and 336 deletions
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344
Demos/SoftDemo/SoftDemo.cpp
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@@ -15,7 +15,6 @@ subject to the following restrictions:
///btSoftBody implementation by Nathanael Presson
#define DO_WALL 1
#include "btBulletDynamicsCommon.h"
#include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h"
@@ -33,8 +32,6 @@ static float gCollisionMargin = 0.05f/*0.05f*/;
#include "GlutStuff.h"
btTransform comOffset;
btVector3 comOffsetVec(0,2,0);
extern float eye[3];
extern int glutScreenWidth;
extern int glutScreenHeight;
@@ -42,12 +39,6 @@ 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
#ifdef _DEBUG
const int gNumObjects = 1;
@@ -56,7 +47,7 @@ const int gNumObjects = 1;//try this in release mode: 3000. never go above 16384
#endif
const int maxNumObjects = 32760;
int shapeIndex[maxNumObjects];
#define CUBE_HALF_EXTENTS 1.5
#define EXTRA_HEIGHT -10.f
@@ -83,10 +74,6 @@ void SoftDemo::createStack( btCollisionShape* boxShape, float halfCubeSize, int
btRigidBody* body = 0;
body = localCreateRigidBody(mass,trans,boxShape);
#ifdef USER_DEFINED_FRICTION_MODEL
///Advanced use: override the friction solver
body->m_frictionSolverType = USER_CONTACT_SOLVER_TYPE1;
#endif //USER_DEFINED_FRICTION_MODEL
}
}
@@ -97,40 +84,6 @@ void SoftDemo::createStack( btCollisionShape* boxShape, float halfCubeSize, int
//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;
}
}
}
}
//
// ISoftBody implementation
@@ -241,24 +194,6 @@ void SoftDemo::clientMoveAndDisplay()
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
#ifdef USE_KINEMATIC_GROUND
//btQuaternion kinRotation(btVector3(0,0,1),0.);
btVector3 kinTranslation(-0.01,0,0);
//kinematic object
btCollisionObject* colObj = m_dynamicsWorld->getCollisionObjectArray()[0];
//is this a rigidbody with a motionstate? then use the motionstate to update positions!
if (btRigidBody::upcast(colObj) && btRigidBody::upcast(colObj)->getMotionState())
{
btTransform newTrans;
btRigidBody::upcast(colObj)->getMotionState()->getWorldTransform(newTrans);
newTrans.getOrigin()+=kinTranslation;
btRigidBody::upcast(colObj)->getMotionState()->setWorldTransform(newTrans);
} else
{
m_dynamicsWorld->getCollisionObjectArray()[0]->getWorldTransform().getOrigin() += kinTranslation;
}
#endif //USE_KINEMATIC_GROUND
float dt = getDeltaTimeMicroseconds() * 0.000001f;
@@ -358,13 +293,6 @@ void SoftDemo::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;
}
//
// Random
//
@@ -916,12 +844,6 @@ switch(key)
void SoftDemo::initPhysics()
{
#ifdef USE_PARALLEL_DISPATCHER
#ifdef WIN32
m_threadSupportSolver = 0;
m_threadSupportCollision = 0;
#endif //
#endif
//#define USE_GROUND_PLANE 1
#ifdef USE_GROUND_PLANE
@@ -935,74 +857,14 @@ void SoftDemo::initPhysics()
//m_collisionShapes.push_back(new btSphereShape(5));
#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);
#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);
@@ -1014,202 +876,35 @@ int maxNumOutstandingTasks = 4;
// 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
m_threadSupportSolver = new Win32ThreadSupport(Win32ThreadSupport::Win32ThreadConstructionInfo(
"solver",
processSolverTask,
createSolverLocalStoreMemory,
maxNumOutstandingTasks));
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);
btDiscreteDynamicsWorld* world = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
m_dynamicsWorld = world;
m_dynamicsWorld->getDispatchInfo().m_enableSPU = true;
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
#endif //USE_PARALLEL_SOLVER
#endif
#ifdef USER_DEFINED_FRICTION_MODEL
//user defined friction model is not supported in 'cache friendly' solver yet, so switch to old solver
m_solver->setSolverMode(btSequentialImpulseConstraintSolver::SOLVER_RANDMIZE_ORDER);
#endif //USER_DEFINED_FRICTION_MODEL
btDiscreteDynamicsWorld* world = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
m_dynamicsWorld = world;
#ifdef DO_BENCHMARK_PYRAMIDS
world->getSolverInfo().m_numIterations = 4;
#endif //DO_BENCHMARK_PYRAMIDS
m_dynamicsWorld->getDispatchInfo().m_enableSPU = true;
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
#ifdef USER_DEFINED_FRICTION_MODEL
{
//m_solver->setContactSolverFunc(ContactSolverFunc func,USER_CONTACT_SOLVER_TYPE1,DEFAULT_CONTACT_SOLVER_TYPE);
m_solver->SetFrictionSolverFunc(myFrictionModel,USER_CONTACT_SOLVER_TYPE1,DEFAULT_CONTACT_SOLVER_TYPE);
m_solver->SetFrictionSolverFunc(myFrictionModel,DEFAULT_CONTACT_SOLVER_TYPE,USER_CONTACT_SOLVER_TYPE1);
m_solver->SetFrictionSolverFunc(myFrictionModel,USER_CONTACT_SOLVER_TYPE1,USER_CONTACT_SOLVER_TYPE1);
//m_physicsEnvironmentPtr->setNumIterations(2);
}
#endif //USER_DEFINED_FRICTION_MODEL
int i;
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(0,-20,0));
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);
btRigidBody* body = localCreateRigidBody(0.f,tr,m_collisionShapes[0]);
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));
/*btQuaternion q;
q.setRotation(btVector3(1,0,0).normalized(),SIMD_PI/4);
trans.setRotation(q);*/
}
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();
m_softbodyimpl.pdemo=this;
@@ -1254,14 +949,6 @@ void SoftDemo::exitPhysics()
//delete solver
delete m_solver;
#ifdef USE_PARALLEL_DISPATCHER
#ifdef WIN32
if (m_threadSupportSolver)
{
delete m_threadSupportSolver;
}
#endif
#endif
//delete broadphase
delete m_broadphase;
@@ -1269,14 +956,7 @@ void SoftDemo::exitPhysics()
//delete dispatcher
delete m_dispatcher;
#ifdef USE_PARALLEL_DISPATCHER
#ifdef WIN32
if (m_threadSupportCollision)
{
delete m_threadSupportCollision;
}
#endif
#endif
delete m_collisionConfiguration;