add FractureDemo to AllBulletDemos
improvements in CCD handling some cleanup of CcdPhysicsDemo and BasicDemo
This commit is contained in:
erwin.coumans
@@ -4,8 +4,8 @@ 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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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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@@ -13,280 +13,118 @@ subject to the following restrictions:
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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 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_DISPATCHER 1
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//#define USE_PARALLEL_SOLVER 1 //experimental parallel solver
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//from Bullet 2.68 onwards ODE Quickstep constraint solver is optional part of Bullet, re-distributed under the ZLib license with permission of Russell L. Smith
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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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#include "BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h"
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#ifdef USE_PARALLEL_DISPATCHER
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#include "BulletMultiThreaded/SpuGatheringCollisionDispatcher.h"
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#ifdef _WIN32
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#include "BulletMultiThreaded/Win32ThreadSupport.h"
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#include "BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h"
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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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#endif //USE_LIBSPE2
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#ifdef USE_PARALLEL_SOLVER
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#include "BulletMultiThreaded/SpuParallelSolver.h"
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#include "BulletMultiThreaded/SpuSolverTask/SpuParallellSolverTask.h"
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#endif //USE_PARALLEL_SOLVER
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#endif//USE_PARALLEL_DISPATCHER
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#include "LinearMath/btQuickprof.h"
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#include "LinearMath/btIDebugDraw.h"
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#include "GLDebugFont.h"
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#include <stdio.h> //printf debugging
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static float gCollisionMargin = 0.05f;
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#include "CcdPhysicsDemo.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 1.f
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#define EXTRA_HEIGHT -10.f
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//GL_LineSegmentShape shapeE(btVector3(-50,0,0),
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// btVector3(50,0,0));
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#include "CcdPhysicsDemo.h"
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#include "GlutStuff.h"
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#include "GLDebugFont.h"
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///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
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#include "btBulletDynamicsCommon.h"
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#include <stdio.h> //printf debugging
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#include "GLDebugDrawer.h"
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#if 0
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extern btAlignedObjectArray<btVector3> debugContacts;
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extern btAlignedObjectArray<btVector3> debugNormals;
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#endif
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static GLDebugDrawer sDebugDrawer;
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void CcdPhysicsDemo::createStack( btCollisionShape* boxShape, float halfCubeSize, int size, float zPos )
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CcdPhysicsDemo::CcdPhysicsDemo()
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:m_ccdMode(USE_CCD)
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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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btVector3 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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setDebugMode(btIDebugDraw::DBG_DrawText+btIDebugDraw::DBG_NoHelpText);
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setCameraDistance(btScalar(20.));
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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, const 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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void CcdPhysicsDemo::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 = getDeltaTimeMicroseconds() * 0.000001f;
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// printf("dt = %f: ",dt);
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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//simple dynamics world doesn't handle fixed-time-stepping
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float ms = getDeltaTimeMicroseconds();
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///step the simulation
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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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m_dynamicsWorld->stepSimulation(1./60.);//ms / 1000000.f);
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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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#endif
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}
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renderme();
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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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#ifdef USE_QUICKPROF
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btProfiler::endBlock("render");
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displayText();
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#if 0
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for (int i=0;i<debugContacts.size();i++)
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{
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getDynamicsWorld()->getDebugDrawer()->drawContactPoint(debugContacts[i],debugNormals[i],0,0,btVector3(1,0,0));
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}
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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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#endif //PRINT_CONTACT_STATISTICS
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glutSwapBuffers();
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glFlush();
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swapBuffers();
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}
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void CcdPhysicsDemo::displayText()
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{
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int lineWidth=440;
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int xStart = m_glutScreenWidth - lineWidth;
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int yStart = 20;
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if((getDebugMode() & btIDebugDraw::DBG_DrawText)!=0)
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{
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setOrthographicProjection();
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glDisable(GL_LIGHTING);
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glColor3f(0, 0, 0);
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char buf[124];
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glRasterPos3f(xStart, yStart, 0);
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switch (m_ccdMode)
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{
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case USE_CCD:
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{
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sprintf(buf,"Predictive contacts and motion clamping");
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break;
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}
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case USE_NO_CCD:
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{
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sprintf(buf,"CCD handling disabled");
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break;
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}
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default:
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{
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sprintf(buf,"unknown CCD setting");
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};
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};
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GLDebugDrawString(xStart,20,buf);
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glRasterPos3f(xStart, yStart, 0);
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sprintf(buf,"Press 'p' to change CCD mode");
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yStart+=20;
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GLDebugDrawString(xStart,yStart,buf);
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glRasterPos3f(xStart, yStart, 0);
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sprintf(buf,"Press '.' or right mouse to shoot bullets");
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yStart+=20;
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GLDebugDrawString(xStart,yStart,buf);
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glRasterPos3f(xStart, yStart, 0);
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sprintf(buf,"space to restart, h(elp), t(ext), w(ire)");
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yStart+=20;
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GLDebugDrawString(xStart,yStart,buf);
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resetPerspectiveProjection();
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glEnable(GL_LIGHTING);
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}
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}
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@@ -294,233 +132,136 @@ void CcdPhysicsDemo::clientMoveAndDisplay()
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void CcdPhysicsDemo::displayCallback(void) {
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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renderme();
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//optional but useful: debug drawing
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displayText();
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//optional but useful: debug drawing to detect problems
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if (m_dynamicsWorld)
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{
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m_dynamicsWorld->debugDrawWorld();
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}
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#if 0
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for (int i=0;i<debugContacts.size();i++)
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{
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getDynamicsWorld()->getDebugDrawer()->drawContactPoint(debugContacts[i],debugNormals[i],0,0,btVector3(1,0,0));
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}
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#endif
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glFlush();
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glutSwapBuffers();
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swapBuffers();
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}
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///User-defined friction model, the most simple friction model available: no friction
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float myFrictionModel( btRigidBody& body1, btRigidBody& body2, btManifoldPoint& contactPoint, const btContactSolverInfo& solverInfo )
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{
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//don't do any friction
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return 0.f;
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}
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void CcdPhysicsDemo::initPhysics()
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{
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setTexturing(true);
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setShadows(false);
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#ifdef USE_PARALLEL_DISPATCHER
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#ifdef _WIN32
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m_threadSupportSolver = 0;
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m_threadSupportCollision = 0;
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#endif //
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#endif
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//#define USE_GROUND_PLANE 1
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#ifdef USE_GROUND_PLANE
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m_collisionShapes.push_back(new btStaticPlaneShape(btVector3(0,1,0),0.5));
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#else
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///Please don't make the box sizes larger then 1000: the collision detection will be inaccurate.
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///See http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=346
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m_collisionShapes.push_back(new btBoxShape (btVector3(200,CUBE_HALF_EXTENTS,200)));
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#endif
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#ifdef DO_BENCHMARK_PYRAMIDS
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m_collisionShapes.push_back(new btBoxShape (btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)));
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#else
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// m_collisionShapes.push_back(new btBoxShape (btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)));
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m_collisionShapes.push_back(new btCylinderShape (btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)));
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#endif
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setShadows(true);
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m_ShootBoxInitialSpeed = 4000.f;
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#ifdef DO_BENCHMARK_PYRAMIDS
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setCameraDistance(32.5f);
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#endif
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#ifdef DO_BENCHMARK_PYRAMIDS
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m_azi = 90.f;
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#endif //DO_BENCHMARK_PYRAMIDS
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m_dispatcher=0;
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///collision configuration contains default setup for memory, collision setup
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m_collisionConfiguration = new btDefaultCollisionConfiguration();
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// m_collisionConfiguration->setConvexConvexMultipointIterations();
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#ifdef USE_PARALLEL_DISPATCHER
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int maxNumOutstandingTasks = 4;
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#ifdef USE_WIN32_THREADING
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m_threadSupportCollision = new Win32ThreadSupport(Win32ThreadSupport::Win32ThreadConstructionInfo(
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"collision",
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processCollisionTask,
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createCollisionLocalStoreMemory,
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maxNumOutstandingTasks));
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||||
#else
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#ifdef USE_LIBSPE2
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||||
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spe_program_handle_t * program_handle;
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#ifndef USE_CESOF
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||||
program_handle = spe_image_open ("./spuCollision.elf");
|
||||
if (program_handle == NULL)
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||||
{
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||||
perror( "SPU OPEN IMAGE ERROR\n");
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||||
}
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||||
else
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||||
{
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||||
printf( "IMAGE OPENED\n");
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||||
}
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#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
|
||||
|
||||
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
|
||||
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
|
||||
#endif //USE_PARALLEL_DISPATCHER
|
||||
|
||||
#ifdef USE_CUSTOM_NEAR_CALLBACK
|
||||
//this is optional
|
||||
m_dispatcher->setNearCallback(customNearCallback);
|
||||
#endif
|
||||
|
||||
m_dispatcher->registerCollisionCreateFunc(BOX_SHAPE_PROXYTYPE,BOX_SHAPE_PROXYTYPE,m_collisionConfiguration->getCollisionAlgorithmCreateFunc(CONVEX_SHAPE_PROXYTYPE,CONVEX_SHAPE_PROXYTYPE));
|
||||
|
||||
m_broadphase = new btDbvtBroadphase();
|
||||
|
||||
#ifdef COMPARE_WITH_QUICKSTEP
|
||||
m_solver = new btOdeQuickstepConstraintSolver();
|
||||
#else
|
||||
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
|
||||
btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
|
||||
m_solver = sol;
|
||||
|
||||
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
|
||||
m_dynamicsWorld ->setDebugDrawer(&sDebugDrawer);
|
||||
m_dynamicsWorld->getSolverInfo().m_splitImpulse=true;
|
||||
m_dynamicsWorld->getSolverInfo().m_numIterations = 20;
|
||||
|
||||
|
||||
#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;//new btOdeQuickstepConstraintSolver();
|
||||
|
||||
#endif //USE_PARALLEL_SOLVER
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
btDiscreteDynamicsWorld* world = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
|
||||
m_dynamicsWorld = world;
|
||||
|
||||
///SOLVER_RANDMIZE_ORDER makes cylinder stacking a bit more stable
|
||||
world->getSolverInfo().m_solverMode |= SOLVER_RANDMIZE_ORDER;
|
||||
|
||||
#ifdef USER_DEFINED_FRICTION_MODEL
|
||||
//user defined friction model is not supported in 'cache friendly' solver yet, so switch to old solver
|
||||
|
||||
world->getSolverInfo().m_solverMode = SOLVER_RANDMIZE_ORDER;
|
||||
|
||||
#endif //USER_DEFINED_FRICTION_MODEL
|
||||
|
||||
#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
|
||||
if (m_ccdMode==USE_CCD)
|
||||
{
|
||||
//m_solver->setContactSolverFunc(ContactSolverFunc func,USER_CONTACT_SOLVER_TYPE1,DEFAULT_CONTACT_SOLVER_TYPE);
|
||||
solver->SetFrictionSolverFunc(myFrictionModel,USER_CONTACT_SOLVER_TYPE1,DEFAULT_CONTACT_SOLVER_TYPE);
|
||||
solver->SetFrictionSolverFunc(myFrictionModel,DEFAULT_CONTACT_SOLVER_TYPE,USER_CONTACT_SOLVER_TYPE1);
|
||||
solver->SetFrictionSolverFunc(myFrictionModel,USER_CONTACT_SOLVER_TYPE1,USER_CONTACT_SOLVER_TYPE1);
|
||||
//m_physicsEnvironmentPtr->setNumIterations(2);
|
||||
m_dynamicsWorld->getDispatchInfo().m_useContinuous=true;
|
||||
} else
|
||||
{
|
||||
m_dynamicsWorld->getDispatchInfo().m_useContinuous=false;
|
||||
}
|
||||
#endif //USER_DEFINED_FRICTION_MODEL
|
||||
|
||||
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
|
||||
|
||||
///create a few basic rigid bodies
|
||||
btBoxShape* box = new btBoxShape(btVector3(btScalar(110.),btScalar(1.),btScalar(110.)));
|
||||
box->initializePolyhedralFeatures();
|
||||
btCollisionShape* groundShape = box;
|
||||
|
||||
int i;
|
||||
// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
|
||||
|
||||
m_collisionShapes.push_back(groundShape);
|
||||
m_collisionShapes.push_back(new btCylinderShape (btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)));
|
||||
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
btTransform groundTransform;
|
||||
groundTransform.setIdentity();
|
||||
//groundTransform.setOrigin(btVector3(5,5,5));
|
||||
|
||||
|
||||
for (i=0;i<gNumObjects;i++)
|
||||
//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
|
||||
{
|
||||
if (i>0)
|
||||
btScalar mass(0.);
|
||||
|
||||
//rigidbody is dynamic if and only if mass is non zero, otherwise static
|
||||
bool isDynamic = (mass != 0.f);
|
||||
|
||||
btVector3 localInertia(0,0,0);
|
||||
if (isDynamic)
|
||||
groundShape->calculateLocalInertia(mass,localInertia);
|
||||
|
||||
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
|
||||
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
|
||||
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
|
||||
btRigidBody* body = new btRigidBody(rbInfo);
|
||||
|
||||
//add the body to the dynamics world
|
||||
m_dynamicsWorld->addRigidBody(body);
|
||||
}
|
||||
|
||||
|
||||
{
|
||||
//create a few dynamic rigidbodies
|
||||
// Re-using the same collision is better for memory usage and performance
|
||||
|
||||
btCollisionShape* colShape = new btBoxShape(btVector3(1,1,1));
|
||||
|
||||
//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
|
||||
m_collisionShapes.push_back(colShape);
|
||||
|
||||
/// Create Dynamic Objects
|
||||
btTransform startTransform;
|
||||
startTransform.setIdentity();
|
||||
|
||||
btScalar mass(1.f);
|
||||
|
||||
//rigidbody is dynamic if and only if mass is non zero, otherwise static
|
||||
bool isDynamic = (mass != 0.f);
|
||||
|
||||
btVector3 localInertia(0,0,0);
|
||||
if (isDynamic)
|
||||
colShape->calculateLocalInertia(mass,localInertia);
|
||||
|
||||
int gNumObjects = 120;
|
||||
int i;
|
||||
for (i=0;i<gNumObjects;i++)
|
||||
{
|
||||
shapeIndex[i] = 1;//sphere
|
||||
}
|
||||
else
|
||||
shapeIndex[i] = 0;
|
||||
}
|
||||
btCollisionShape* shape = m_collisionShapes[1];
|
||||
|
||||
btTransform trans;
|
||||
trans.setIdentity();
|
||||
|
||||
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);
|
||||
@@ -538,83 +279,91 @@ int maxNumOutstandingTasks = 4;
|
||||
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;
|
||||
|
||||
btRigidBody* body = localCreateRigidBody(mass,trans,shape);
|
||||
|
||||
|
||||
///when using m_ccdMode
|
||||
if (m_ccdMode==USE_CCD)
|
||||
{
|
||||
body->setCcdMotionThreshold(1e-7);
|
||||
body->setCcdSweptSphereRadius(0.9*CUBE_HALF_EXTENTS);
|
||||
}
|
||||
}
|
||||
|
||||
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->setCcdMotionThreshold( 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 CcdPhysicsDemo::clientResetScene()
|
||||
{
|
||||
exitPhysics();
|
||||
initPhysics();
|
||||
}
|
||||
|
||||
void CcdPhysicsDemo::keyboardCallback(unsigned char key, int x, int y)
|
||||
{
|
||||
if (key=='p')
|
||||
{
|
||||
switch (m_ccdMode)
|
||||
{
|
||||
case USE_CCD:
|
||||
{
|
||||
m_ccdMode = USE_NO_CCD;
|
||||
break;
|
||||
}
|
||||
case USE_NO_CCD:
|
||||
default:
|
||||
{
|
||||
m_ccdMode = USE_CCD;
|
||||
}
|
||||
};
|
||||
clientResetScene();
|
||||
} else
|
||||
{
|
||||
DemoApplication::keyboardCallback(key,x,y);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void CcdPhysicsDemo::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_CCD)
|
||||
{
|
||||
body->setCcdMotionThreshold(0.0001);
|
||||
body->setCcdSweptSphereRadius(0.4f);
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
@@ -622,7 +371,6 @@ int maxNumOutstandingTasks = 4;
|
||||
void CcdPhysicsDemo::exitPhysics()
|
||||
{
|
||||
|
||||
|
||||
//cleanup in the reverse order of creation/initialization
|
||||
|
||||
//remove the rigidbodies from the dynamics world and delete them
|
||||
@@ -643,42 +391,23 @@ void CcdPhysicsDemo::exitPhysics()
|
||||
for (int j=0;j<m_collisionShapes.size();j++)
|
||||
{
|
||||
btCollisionShape* shape = m_collisionShapes[j];
|
||||
m_collisionShapes[j] = 0;
|
||||
delete shape;
|
||||
}
|
||||
m_collisionShapes.clear();
|
||||
|
||||
//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;
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user