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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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27
Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.cpp
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@@ -16,18 +16,12 @@ subject to the following restrictions:
#include "cd_wavefront.h"
#include "ConvexBuilder.h"
#include "CcdPhysicsEnvironment.h"
#include "CcdPhysicsController.h"
#include "btBulletDynamicsCommon.h"
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btIDebugDraw.h"
#include "GLDebugDrawer.h"
#include "PHY_Pro.h"
#include "BMF_Api.h"
#include <stdio.h> //printf debugging
@@ -90,16 +84,14 @@ void ConvexDecompositionDemo::initPhysics(const char* filename)
btOverlappingPairCache* broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax);
//OverlappingPairCache* broadphase = new btSimpleBroadphase();
m_physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase);
m_physicsEnvironmentPtr->setDeactivationTime(2.f);
m_physicsEnvironmentPtr->setGravity(0,-10,0);
btConstraintSolver* solver = new btSequentialImpulseConstraintSolver();
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,broadphase,solver);
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0,-4,0));
localCreatePhysicsObject(false,0,startTransform,new btBoxShape(btVector3(30,2,30)));
localCreateRigidBody(false,0,startTransform,new btBoxShape(btVector3(30,2,30)));
class MyConvexDecomposition : public ConvexDecomposition::ConvexDecompInterface
{
@@ -200,8 +192,8 @@ void ConvexDecompositionDemo::initPhysics(const char* filename)
btTransform trans;
trans.setIdentity();
trans.setOrigin(centroid);
m_convexDemo->localCreatePhysicsObject(isDynamic, mass, trans,convexShape);
btRigidBody* body = m_convexDemo->localCreateRigidBody(isDynamic, mass, trans,convexShape);
m_convexDemo->getDynamicsWorld()->addCollisionObject(body);
mBaseCount+=result.mHullVcount; // advance the 'base index' counter.
@@ -245,7 +237,7 @@ void ConvexDecompositionDemo::initPhysics(const char* filename)
startTransform.setIdentity();
startTransform.setOrigin(btVector3(20,2,0));
localCreatePhysicsObject(isDynamic, mass, startTransform,convexShape);
localCreateRigidBody(isDynamic, mass, startTransform,convexShape);
}
@@ -296,7 +288,7 @@ void ConvexDecompositionDemo::initPhysics(const char* filename)
}
m_physicsEnvironmentPtr->setDebugDrawer(&debugDrawer);
m_dynamicsWorld->setDebugDrawer(&debugDrawer);
}
@@ -305,8 +297,7 @@ void ConvexDecompositionDemo::clientMoveAndDisplay()
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
m_physicsEnvironmentPtr->proceedDeltaTime(0.f,deltaTime);
m_dynamicsWorld->stepSimulation(deltaTime);
renderme();
@@ -322,7 +313,7 @@ void ConvexDecompositionDemo::displayCallback(void) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
m_physicsEnvironmentPtr->UpdateAabbs(deltaTime);
m_dynamicsWorld->updateAabbs();
renderme();