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more refactoring, removed PhysicsInterface, cleaned up demos to make use of btDynamicsWorld derived classes.

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removed two cached optimizations, type in btTransform and cached inverse transform (todo: test performance impact)
committed fixes that make the code adhere to 'who creates it, also destroys it'
This commit is contained in:
ejcoumans
2006-09-30 01:36:39 +00:00
parent 14397a2f72
commit d38549aa54
37 changed files with 317 additions and 995 deletions
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46
Demos/ColladaDemo/ColladaConverter.cpp
View File

@@ -14,7 +14,7 @@ subject to the following restrictions:
*/
#include "ColladaConverter.h"
#include "btBulletDynamicsCommon.h"
#include "dae.h"
#include "dom/domCOLLADA.h"
@@ -27,10 +27,9 @@ subject to the following restrictions:
#include "BulletCollision/CollisionShapes/btTriangleMesh.h"
#include "BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h"
//#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h"
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
#include "CcdPhysicsController.h"
char* getLastFileName();
@@ -537,18 +536,18 @@ void ColladaConverter::prepareConstraints(ConstraintInput& input)
daeString orgUri0 = attachRefBody->getRigid_body().getOriginalURI();
daeString orgUri1 = attachBody1->getRigid_body().getOriginalURI();
CcdPhysicsController* ctrl0=0,*ctrl1=0;
btRigidBody* body0=0,*body1=0;
for (int i=0;i<m_numObjects;i++)
{
char* bodyName = (char*)m_physObjects[i]->getNewClientInfo();
char* bodyName = (char*)m_rigidBodies[i]->m_userObjectPointer;
if (!strcmp(bodyName,orgUri0))
{
ctrl0=m_physObjects[i];
body0=m_rigidBodies[i];
}
if (!strcmp(bodyName,orgUri1))
{
ctrl1=m_physObjects[i];
body1=m_rigidBodies[i];
}
}
@@ -572,8 +571,7 @@ void ColladaConverter::prepareConstraints(ConstraintInput& input)
btVector3 angularMax(coneMaxLimit.get(0),coneMaxLimit.get(1),coneMaxLimit.get(2));
{
int constraintId;
btTransform attachFrameRef0;
attachFrameRef0 =
GetbtTransformFromCOLLADA_DOM
@@ -635,11 +633,11 @@ void ColladaConverter::prepareConstraints(ConstraintInput& input)
}
if (ctrl0 && ctrl1)
if (body0&& body1)
{
constraintId = createUniversalD6Constraint(
ctrl0,
ctrl1,
createUniversalD6Constraint(
body0,
body1,
attachFrameRef0,
attachFrameOther,
linearLowerLimits,
@@ -699,12 +697,12 @@ void ColladaConverter::PreparePhysicsObject(struct btRigidBodyInput& input, bool
CcdPhysicsController* ctrl = createPhysicsObject(isDynamics,mass,startTransform,colShape);
if (ctrl)
btRigidBody* body= createRigidBody(isDynamics,mass,startTransform,colShape);
if (body)
{
//for bodyName lookup in constraints
ctrl->setNewClientInfo((void*)input.m_bodyName);
m_physObjects[m_numObjects] = ctrl;
body->m_userObjectPointer = (void*)input.m_bodyName;
m_rigidBodies[m_numObjects] = body;
m_numObjects++;
}
@@ -733,12 +731,8 @@ bool ColladaConverter::saveAs(const char* filename)
{
float np[3];
btVector3 np = m_rigidBodies[i]->m_worldTransform.getOrigin();
domFloat3 newPos = m_colladadomNodes[i]->getTranslate_array().get(0)->getValue();
m_physObjects[i]->GetMotionState()->getWorldPosition(
np[0],
np[1],
np[2]);
newPos.set(0,np[0]);
newPos.set(1,np[1]);
newPos.set(2,np[2]);
@@ -764,7 +758,7 @@ bool ColladaConverter::saveAs(const char* filename)
}
{
btQuaternion quat = m_physObjects[i]->getRigidBody()->getCenterOfMassTransform().getRotation();
btQuaternion quat = m_rigidBodies[i]->getCenterOfMassTransform().getRotation();
btVector3 axis(quat.getX(),quat.getY(),quat.getZ());
axis[3] = 0.f;
//check for axis length
@@ -1059,7 +1053,11 @@ void ColladaConverter::ConvertRigidBodyRef( btRigidBodyInput& rbInput,btRigidBod
} else
{
printf("static concave triangle <mesh> added\n");
rbOutput.m_colShape = new btTriangleMeshShape(trimesh);
//rbOutput.m_colShape = new btTriangleMeshShape(trimesh);//btBvhTriangleMeshShape(trimesh);
//rbOutput.m_colShape = new btBvhTriangleMeshShape(trimesh);
rbOutput.m_colShape = new btConvexTriangleMeshShape(trimesh);
//btTriangleMeshShape
}
}

13
Demos/ColladaDemo/ColladaConverter.h
View File

@@ -22,8 +22,9 @@ subject to the following restrictions:
#include "LinearMath/btVector3.h"
class btCollisionShape;
class PHY_IPhysicsController;
class CcdPhysicsController;
class btRigidBody;
class btTypedConstraint;
class ConstraintInput;
//use some reasonable number here
@@ -42,7 +43,7 @@ protected:
const char* m_filename;
int m_numObjects;
CcdPhysicsController* m_physObjects[COLLADA_CONVERTER_MAX_NUM_OBJECTS];
btRigidBody* m_rigidBodies[COLLADA_CONVERTER_MAX_NUM_OBJECTS];
void PreparePhysicsObject(struct btRigidBodyInput& input, bool isDynamics, float mass,btCollisionShape* colShape);
@@ -66,8 +67,8 @@ public:
bool convert();
///those 2 virtuals are called for each constraint/physics object
virtual int createUniversalD6Constraint(
class PHY_IPhysicsController* ctrlRef,class PHY_IPhysicsController* ctrlOther,
virtual btTypedConstraint* createUniversalD6Constraint(
class btRigidBody* body0,class btRigidBody* otherBody,
btTransform& localAttachmentFrameRef,
btTransform& localAttachmentOther,
const btVector3& linearMinLimits,
@@ -76,7 +77,7 @@ public:
const btVector3& angularMaxLimits
) = 0;
virtual CcdPhysicsController* createPhysicsObject(bool isDynamic,
virtual btRigidBody* createRigidBody(bool isDynamic,
float mass,
const btTransform& startTransform,
btCollisionShape* shape) = 0;

73
Demos/ColladaDemo/ColladaDemo.cpp
View File

@@ -13,8 +13,6 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#include "CcdPhysicsEnvironment.h"
#include "CcdPhysicsController.h"
#include "btBulletDynamicsCommon.h"
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btIDebugDraw.h"
@@ -26,7 +24,7 @@ subject to the following restrictions:
//COLLADA_DOM should compile under all platforms, and is enabled by default.
#include "ColladaConverter.h"
#include "PHY_Pro.h"
#include "BMF_Api.h"
#include <stdio.h> //printf debugging
@@ -35,6 +33,7 @@ float deltaTime = 1.f/60.f;
#include "ColladaDemo.h"
#include "GL_ShapeDrawer.h"
#include "GlutStuff.h"
int maxObj = 1;
///custom version of the converter, that creates physics objects/constraints
class MyColladaConverter : public ColladaConverter
@@ -48,8 +47,8 @@ class MyColladaConverter : public ColladaConverter
}
///those 2 virtuals are called for each constraint/physics object
virtual int createUniversalD6Constraint(
class PHY_IPhysicsController* ctrlRef,class PHY_IPhysicsController* ctrlOther,
virtual btTypedConstraint* createUniversalD6Constraint(
class btRigidBody* bodyRef,class btRigidBody* bodyOther,
btTransform& localAttachmentFrameRef,
btTransform& localAttachmentOther,
const btVector3& linearMinLimits,
@@ -58,30 +57,49 @@ class MyColladaConverter : public ColladaConverter
const btVector3& angularMaxLimits
)
{
return m_demoApp->getPhysicsEnvironment()->createUniversalD6Constraint(
ctrlRef,ctrlOther,
localAttachmentFrameRef,
localAttachmentOther,
linearMinLimits,
linearMaxLimits,
angularMinLimits,
angularMaxLimits
);
if (bodyRef && bodyOther)
{
btGeneric6DofConstraint* genericConstraint = new btGeneric6DofConstraint(
*bodyRef,*bodyOther,
localAttachmentFrameRef,localAttachmentOther);
genericConstraint->setLinearLowerLimit(linearMinLimits);
genericConstraint->setLinearUpperLimit(linearMaxLimits);
genericConstraint->setAngularLowerLimit(angularMinLimits);
genericConstraint->setAngularUpperLimit(angularMaxLimits);
m_demoApp->getDynamicsWorld()->addConstraint( genericConstraint );
return genericConstraint;
}
return 0;
}
virtual CcdPhysicsController* createPhysicsObject(bool isDynamic,
virtual btRigidBody* createRigidBody(bool isDynamic,
float mass,
const btTransform& startTransform,
btCollisionShape* shape)
{
CcdPhysicsController* ctrl = m_demoApp->localCreatePhysicsObject(isDynamic, mass, startTransform,shape);
return ctrl;
if (!isDynamic)
{
printf("nondyna\n");
} else
{
if (!maxObj)
return 0;
maxObj--;
}
btRigidBody* body = m_demoApp->localCreateRigidBody(isDynamic, mass, startTransform,shape);
m_demoApp->getDynamicsWorld()->addCollisionObject(body);
return body;
}
virtual void setGravity(const btVector3& grav)
{
m_demoApp->getPhysicsEnvironment()->setGravity(grav.getX(),grav.getY(),grav.getZ());
m_demoApp->setGravity(grav);
}
virtual void setCameraInfo(const btVector3& camUp,int forwardAxis)
{
@@ -141,16 +159,11 @@ void ColladaDemo::initPhysics(const char* filename)
m_cameraUp = btVector3(0,0,1);
m_forwardAxis = 1;
///Setup a Physics Simulation Environment
btCollisionDispatcher* dispatcher = new btCollisionDispatcher();
btVector3 worldAabbMin(-10000,-10000,-10000);
btVector3 worldAabbMax(10000,10000,10000);
btOverlappingPairCache* broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax);
//BroadphaseInterface* broadphase = new btSimpleBroadphase();
m_physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase);
m_physicsEnvironmentPtr->setDeactivationTime(2.f);
m_physicsEnvironmentPtr->setGravity(0,0,-10);
m_physicsEnvironmentPtr->setDebugDrawer(&debugDrawer);
m_dynamicsWorld = new btDiscreteDynamicsWorld();
//m_dynamicsWorld = new btSimpleDynamicsWorld();
m_dynamicsWorld->setDebugDrawer(&debugDrawer);
MyColladaConverter* converter = new MyColladaConverter(this);
@@ -174,7 +187,7 @@ void ColladaDemo::clientMoveAndDisplay()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
m_physicsEnvironmentPtr->proceedDeltaTime(0.f,deltaTime);
m_dynamicsWorld->stepSimulation(deltaTime);
renderme();
@@ -190,7 +203,7 @@ void ColladaDemo::displayCallback(void) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
m_physicsEnvironmentPtr->UpdateAabbs(deltaTime);
m_dynamicsWorld->updateAabbs();
renderme();