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Various improvements of NNWalkers demo.

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This commit is contained in:
Benelot
2016-11-01 15:34:22 +01:00
parent f01389ded2
commit d051685060
2 changed files with 459 additions and 213 deletions
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651
examples/Evolution/NN3DWalkers.cpp
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21
examples/Evolution/NN3DWalkersTimeWarpBase.h
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@@ -213,7 +213,8 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
CommonRigidBodyBase(helper), CommonRigidBodyBase(helper),
mPhysicsStepsPerSecondUpdated(false), mPhysicsStepsPerSecondUpdated(false),
mFramesPerSecondUpdated(false), mFramesPerSecondUpdated(false),
mSolverIterationsUpdated(false) { mSolverIterationsUpdated(false),
mIsHeadless(false){
// main frame timer initialization // main frame timer initialization
mApplicationStart = mLoopTimer.getTimeMilliseconds(); /**!< Initialize when the application started running */ mApplicationStart = mLoopTimer.getTimeMilliseconds(); /**!< Initialize when the application started running */
@@ -541,7 +542,7 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
m_dynamicsWorld->getSolverInfo().m_numIterations = gSolverIterations; // set the number of solver iterations for iteration based solvers m_dynamicsWorld->getSolverInfo().m_numIterations = gSolverIterations; // set the number of solver iterations for iteration based solvers
m_dynamicsWorld->setGravity(btVector3(0, -9.81f, 0)); // set gravity to -9.81 m_dynamicsWorld->setGravity(btVector3(0, btScalar(-9.81f), 0)); // set gravity to -9.81
} }
@@ -564,7 +565,7 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
void stepSimulation(float deltaTime){ // customly step the simulation void stepSimulation(float deltaTime){ // customly step the simulation
do{ do{
// // settings // settings
if(mPhysicsStepsPerSecondUpdated){ if(mPhysicsStepsPerSecondUpdated){
changePhysicsStepsPerSecond(gPhysicsStepsPerSecond); changePhysicsStepsPerSecond(gPhysicsStepsPerSecond);
mPhysicsStepsPerSecondUpdated = false; mPhysicsStepsPerSecondUpdated = false;
@@ -599,7 +600,6 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
if(mLoopTimer.getTimeSeconds() - speedUpPrintTimeStamp > 1){ if(mLoopTimer.getTimeSeconds() - speedUpPrintTimeStamp > 1){
// on reset, we calculate the performed speed up // on reset, we calculate the performed speed up
double speedUp = ((double)performedTime*1000.0)/((double)(mLoopTimer.getTimeMilliseconds()-performanceTimestamp)); double speedUp = ((double)performedTime*1000.0)/((double)(mLoopTimer.getTimeMilliseconds()-performanceTimestamp));
// b3Printf("Avg Effective speedup: %f",speedUp);
performedTime = 0; performedTime = 0;
performanceTimestamp = mLoopTimer.getTimeMilliseconds(); performanceTimestamp = mLoopTimer.getTimeMilliseconds();
speedUpPrintTimeStamp = mLoopTimer.getTimeSeconds(); speedUpPrintTimeStamp = mLoopTimer.getTimeSeconds();
@@ -617,7 +617,7 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
mModelStart = mLoopTimer.getTimeMilliseconds(); /**!< Begin with the model update (in Milliseconds)*/ mModelStart = mLoopTimer.getTimeMilliseconds(); /**!< Begin with the model update (in Milliseconds)*/
mLastGraphicsTick = mModelStart - mGraphicsStart; /**!< Update graphics timer (in Milliseconds) */ mLastGraphicsTick = mModelStart - mGraphicsStart; /**!< Update graphics timer (in Milliseconds) */
if (gMaximumSpeed /** If maximum speed is enabled*/) { if (gMaximumSpeed) { /** If maximum speed is enabled*/
performMaxStep(); performMaxStep();
} else { /**!< This mode tries to progress as much time as it is expected from the game loop*/ } else { /**!< This mode tries to progress as much time as it is expected from the game loop*/
performSpeedStep(); performSpeedStep();
@@ -632,8 +632,8 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
mInputDt = mThisModelIteration - mInputClock; mInputDt = mThisModelIteration - mInputClock;
if (mInputDt >= gApplicationTick) { if (mInputDt >= gApplicationTick) {
mInputClock = mThisModelIteration; mInputClock = mThisModelIteration;
// mInputHandler.injectInput(); /**!< Inject input into handlers */ //mInputHandler.injectInput(); /**!< Inject input into handlers */
// mInputHandler.update(mInputClock); /**!< update elements that work on the current input state */ //mInputHandler.update(mInputClock); /**!< update elements that work on the current input state */
} }
mGraphicsStart = mLoopTimer.getTimeMilliseconds(); /**!< Start the graphics update */ mGraphicsStart = mLoopTimer.getTimeMilliseconds(); /**!< Start the graphics update */
@@ -655,7 +655,7 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
} }
virtual bool keyboardCallback(int key, int state) virtual bool keyboardCallback(int key, int state)
{ {
switch(key) switch(key)
{ {
@@ -757,10 +757,9 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
for (int i = 0; i < subSteps; i++) { /**!< Perform the number of substeps to reach the timestep*/ for (int i = 0; i < subSteps; i++) { /**!< Perform the number of substeps to reach the timestep*/
if (timeStep && m_dynamicsWorld) { if (timeStep && m_dynamicsWorld) {
// since we want to perform all proper steps, we perform no interpolated substeps int subSteps = 1; // since we want to perform all proper steps, we perform no interpolated substeps
int subSteps = 1;
m_dynamicsWorld->stepSimulation(btScalar(timeStep), m_dynamicsWorld->stepSimulation(btScalar(fixedPhysicsStepSizeSec),
btScalar(subSteps), btScalar(fixedPhysicsStepSizeSec)); btScalar(subSteps), btScalar(fixedPhysicsStepSizeSec));
} }
} }