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add FractureDemo to AllBulletDemos

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improvements in CCD handling
some cleanup of CcdPhysicsDemo and BasicDemo
This commit is contained in:
erwin.coumans
2011-04-09 01:14:21 +00:00
parent 2291a6a9d3
commit cdddf9d25a
29 changed files with 550 additions and 867 deletions
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166
Demos/BasicDemo/BasicDemo.cpp
View File

@@ -30,23 +30,10 @@ subject to the following restrictions:
#include "BasicDemo.h"
#include "GlutStuff.h"
#include "GLDebugFont.h"
///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
#include "btBulletDynamicsCommon.h"
#include <stdio.h> //printf debugging
#include "GLDebugDrawer.h"
static GLDebugDrawer sDebugDrawer;
BasicDemo::BasicDemo()
:m_ccdMode(USE_SPECULULATIVE_CONTACTS)
{
setDebugMode(btIDebugDraw::DBG_DrawText);
setCameraDistance(btScalar(SCALING*50.));
}
void BasicDemo::clientMoveAndDisplay()
@@ -59,15 +46,13 @@ void BasicDemo::clientMoveAndDisplay()
///step the simulation
if (m_dynamicsWorld)
{
m_dynamicsWorld->stepSimulation(1./60.);//ms / 1000000.f);
m_dynamicsWorld->stepSimulation(ms / 1000000.f);
//optional but useful: debug drawing
m_dynamicsWorld->debugDrawWorld();
}
renderme();
displayText();
glFlush();
swapBuffers();
@@ -75,62 +60,6 @@ void BasicDemo::clientMoveAndDisplay()
}
void BasicDemo::displayText()
{
int lineWidth=400;
int xStart = m_glutScreenWidth - lineWidth;
int yStart = 20;
if((getDebugMode() & btIDebugDraw::DBG_DrawText)!=0)
{
setOrthographicProjection();
glDisable(GL_LIGHTING);
glColor3f(0, 0, 0);
char buf[124];
glRasterPos3f(xStart, yStart, 0);
switch (m_ccdMode)
{
case USE_SPECULULATIVE_CONTACTS:
{
sprintf(buf,"Predictive contacts enabled");
break;
}
case USE_CONSERVATIVE_ADVANCEMENT:
{
sprintf(buf,"Conservative advancement enabled");
break;
};
case USE_NO_CCD:
{
sprintf(buf,"CCD disabled");
break;
}
default:
{
sprintf(buf,"unknown CCD setting");
};
};
GLDebugDrawString(xStart,20,buf);
glRasterPos3f(xStart, yStart, 0);
sprintf(buf,"Press 'p' to change CCD mode");
yStart+=20;
GLDebugDrawString(xStart,yStart,buf);
glRasterPos3f(xStart, yStart, 0);
sprintf(buf,"Press '.' or right mouse to shoot boxes");
yStart+=20;
GLDebugDrawString(xStart,yStart,buf);
glRasterPos3f(xStart, yStart, 0);
sprintf(buf,"space to restart, h(elp), t(ext), w(ire)");
yStart+=20;
GLDebugDrawString(xStart,yStart,buf);
resetPerspectiveProjection();
glEnable(GL_LIGHTING);
}
}
void BasicDemo::displayCallback(void) {
@@ -138,13 +67,9 @@ void BasicDemo::displayCallback(void) {
renderme();
displayText();
//optional but useful: debug drawing to detect problems
if (m_dynamicsWorld)
{
m_dynamicsWorld->debugDrawWorld();
}
glFlush();
swapBuffers();
@@ -158,17 +83,15 @@ void BasicDemo::initPhysics()
{
setTexturing(true);
setShadows(true);
m_ShootBoxInitialSpeed = 1000.f;
setCameraDistance(btScalar(SCALING*50.));
///collision configuration contains default setup for memory, collision setup
m_collisionConfiguration = new btDefaultCollisionConfiguration();
m_collisionConfiguration->setConvexConvexMultipointIterations();
//m_collisionConfiguration->setConvexConvexMultipointIterations();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
m_dispatcher->registerCollisionCreateFunc(BOX_SHAPE_PROXYTYPE,BOX_SHAPE_PROXYTYPE,m_collisionConfiguration->getCollisionAlgorithmCreateFunc(CONVEX_SHAPE_PROXYTYPE,CONVEX_SHAPE_PROXYTYPE));
m_broadphase = new btDbvtBroadphase();
@@ -177,13 +100,7 @@ void BasicDemo::initPhysics()
m_solver = sol;
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
m_dynamicsWorld ->setDebugDrawer(&sDebugDrawer);
if (m_ccdMode==USE_SPECULULATIVE_CONTACTS)
{
m_dynamicsWorld->getDispatchInfo().m_convexMaxDistanceUseCPT = true;
}
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
///create a few basic rigid bodies
@@ -258,9 +175,8 @@ void BasicDemo::initPhysics()
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
if (m_ccdMode==USE_SPECULULATIVE_CONTACTS)
body->setContactProcessingThreshold(1e30);
m_dynamicsWorld->addRigidBody(body);
}
}
@@ -269,82 +185,12 @@ void BasicDemo::initPhysics()
}
void BasicDemo::clientResetScene()
{
exitPhysics();
initPhysics();
}
void BasicDemo::keyboardCallback(unsigned char key, int x, int y)
{
if (key=='p')
{
switch (m_ccdMode)
{
case USE_SPECULULATIVE_CONTACTS:
{
m_ccdMode = USE_CONSERVATIVE_ADVANCEMENT;
break;
}
case USE_CONSERVATIVE_ADVANCEMENT:
{
m_ccdMode = USE_NO_CCD;
break;
};
case USE_NO_CCD:
default:
{
m_ccdMode = USE_SPECULULATIVE_CONTACTS;
}
};
clientResetScene();
} else
{
DemoApplication::keyboardCallback(key,x,y);
}
}
void BasicDemo::shootBox(const btVector3& destination)
{
if (m_dynamicsWorld)
{
float mass = 1.f;
btTransform startTransform;
startTransform.setIdentity();
btVector3 camPos = getCameraPosition();
startTransform.setOrigin(camPos);
setShootBoxShape ();
btRigidBody* body = this->localCreateRigidBody(mass, startTransform,m_shootBoxShape);
body->setLinearFactor(btVector3(1,1,1));
//body->setRestitution(1);
btVector3 linVel(destination[0]-camPos[0],destination[1]-camPos[1],destination[2]-camPos[2]);
linVel.normalize();
linVel*=m_ShootBoxInitialSpeed;
body->getWorldTransform().setOrigin(camPos);
body->getWorldTransform().setRotation(btQuaternion(0,0,0,1));
body->setLinearVelocity(linVel);
body->setAngularVelocity(btVector3(0,0,0));
body->setContactProcessingThreshold(1e30);
///when using m_ccdMode, disable regular CCD
if (m_ccdMode==USE_CONSERVATIVE_ADVANCEMENT)
{
body->setCcdMotionThreshold(1.);
body->setCcdSweptSphereRadius(0.5f*SCALING);
}
}
}
void BasicDemo::exitPhysics()
{

19
Demos/BasicDemo/BasicDemo.h
View File

@@ -47,20 +47,13 @@ class BasicDemo : public PlatformDemoApplication
btConstraintSolver* m_solver;
enum
{
USE_SPECULULATIVE_CONTACTS=0,
USE_CONSERVATIVE_ADVANCEMENT,
USE_NO_CCD
};
int m_ccdMode;
btDefaultCollisionConfiguration* m_collisionConfiguration;
public:
BasicDemo();
BasicDemo()
{
}
virtual ~BasicDemo()
{
exitPhysics();
@@ -71,14 +64,8 @@ class BasicDemo : public PlatformDemoApplication
virtual void clientMoveAndDisplay();
void displayText();
virtual void keyboardCallback(unsigned char key, int x, int y);
virtual void displayCallback();
virtual void shootBox(const btVector3& destination);
virtual void clientResetScene();
static DemoApplication* Create()
{

51
Demos/BasicDemo/main.cpp
View File

@@ -18,62 +18,17 @@ subject to the following restrictions:
#include "btBulletDynamicsCommon.h"
#include "LinearMath/btHashMap.h"
class OurValue
{
int m_uid;
#include "GLDebugDrawer.h"
static GLDebugDrawer sDebugDraw;
public:
OurValue(const btVector3& initialPos)
:m_position(initialPos)
{
static int gUid=0;
m_uid=gUid;
gUid++;
}
btVector3 m_position;
int getUid() const
{
return m_uid;
}
};
int main(int argc,char** argv)
{
///testing the btHashMap
btHashMap<btHashKey<OurValue>,OurValue> map;
OurValue value1(btVector3(2,3,4));
btHashKey<OurValue> key1(value1.getUid());
map.insert(key1,value1);
OurValue value2(btVector3(5,6,7));
btHashKey<OurValue> key2(value2.getUid());
map.insert(key2,value2);
{
OurValue value3(btVector3(7,8,9));
btHashKey<OurValue> key3(value3.getUid());
map.insert(key3,value3);
}
map.remove(key2);
// const OurValue* ourPtr = map.find(key1);
// for (int i=0;i<map.size();i++)
// {
// OurValue* tmp = map.getAtIndex(i);
//printf("tmp value=%f,%f,%f\n",tmp->m_position.getX(),tmp->m_position.getY(),tmp->m_position.getZ());
// }
BasicDemo ccdDemo;
ccdDemo.initPhysics();
ccdDemo.getDynamicsWorld()->setDebugDrawer(&sDebugDraw);
#ifdef CHECK_MEMORY_LEAKS
ccdDemo.exitPhysics();