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Revert to max 1 substep by default: increased maxSubSteps to 10 make debug version way too slow.

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Use btDbvtBroadphase in BasicDemo and CcdPhysicsDemo.
This commit is contained in:
erwin.coumans
2008-09-05 01:41:32 +00:00
parent e08c3acc1d
commit cef07cfa20
5 changed files with 14 additions and 35 deletions
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33
Demos/BasicDemo/BasicDemo.cpp
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@@ -88,25 +88,19 @@ void BasicDemo::initPhysics()
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
///the maximum size of the collision world. Make sure objects stay within these boundaries
///Don't make the world AABB size too large, it will harm simulation quality and performance
btVector3 worldAabbMin(-10000,-10000,-10000);
btVector3 worldAabbMax(10000,10000,10000);
//m_overlappingPairCache = new btSimpleBroadphase();//new btAxisSweep3(worldAabbMin,worldAabbMax,MAX_PROXIES);
m_overlappingPairCache = new btAxisSweep3(worldAabbMin,worldAabbMax,MAX_PROXIES);
m_broadphase = new btDbvtBroadphase();
///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_overlappingPairCache,m_solver,m_collisionConfiguration);
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
///create a few basic rigid bodies
// btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
m_collisionShapes.push_back(groundShape);
@@ -162,11 +156,9 @@ void BasicDemo::initPhysics()
for (int k=0;k<ARRAY_SIZE_Y;k++)
{
int i=0;
// for (int i=0;i<ARRAY_SIZE_X;i++)
for (int i=0;i<ARRAY_SIZE_X;i++)
{
int j=0;
// for(int j = 0;j<ARRAY_SIZE_Z;j++)
for(int j = 0;j<ARRAY_SIZE_Z;j++)
{
startTransform.setOrigin(btVector3(
2.0*i + start_x,
@@ -195,7 +187,6 @@ void BasicDemo::initPhysics()
void BasicDemo::exitPhysics()
{
//cleanup in the reverse order of creation/initialization
//remove the rigidbodies from the dynamics world and delete them
@@ -219,16 +210,12 @@ void BasicDemo::exitPhysics()
delete shape;
}
//delete dynamics world
delete m_dynamicsWorld;
//delete solver
delete m_solver;
//delete broadphase
delete m_overlappingPairCache;
//delete dispatcher
delete m_broadphase;
delete m_dispatcher;
delete m_collisionConfiguration;

2
Demos/BasicDemo/BasicDemo.h
View File

@@ -33,7 +33,7 @@ class BasicDemo : public DemoApplication
//keep the collision shapes, for deletion/cleanup
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
btBroadphaseInterface* m_overlappingPairCache;
btBroadphaseInterface* m_broadphase;
btCollisionDispatcher* m_dispatcher;