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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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419
Demos/OpenGL/DemoApplication.cpp
View File

@@ -18,10 +18,7 @@ subject to the following restrictions:
#include "LinearMath/btIDebugDraw.h"
#include "BulletDynamics/Dynamics/btDynamicsWorld.h"
#include "CcdPhysicsEnvironment.h"
#include "CcdPhysicsController.h"
#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"//picking
#include "PHY_Pro.h"
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "GL_ShapeDrawer.h"
@@ -31,8 +28,6 @@ subject to the following restrictions:
int numObjects = 0;
const int maxNumObjects = 16384;
DefaultMotionState ms[maxNumObjects];
CcdPhysicsController* physObjects[maxNumObjects];
btTransform startTransforms[maxNumObjects];
btCollisionShape* gShapePtr[maxNumObjects];//1 rigidbody has 1 shape (no re-use of shapes)
@@ -40,9 +35,9 @@ btCollisionShape* gShapePtr[maxNumObjects];//1 rigidbody has 1 shape (no re-use
DemoApplication::DemoApplication()
//see btIDebugDraw.h for modes
:
m_physicsEnvironmentPtr(0),
m_dynamicsWorld(0),
m_pickConstraint(0),
m_gravity(0,-10,0),
m_cameraDistance(15.0),
m_debugMode(0),
m_ele(0.f),
@@ -340,8 +335,7 @@ void DemoApplication::keyboardCallback(unsigned char key, int x, int y)
break;
}
if (m_physicsEnvironmentPtr)
m_physicsEnvironmentPtr->setDebugMode(m_debugMode);
getDynamicsWorld()->getDebugDrawer()->setDebugMode(m_debugMode);
glutPostRedisplay();
@@ -411,27 +405,6 @@ void DemoApplication::shootBox(const btVector3& destination)
body->setAngularVelocity(btVector3(0,0,0));
}
if (m_physicsEnvironmentPtr)
{
bool isDynamic = true;
float mass = 1.f;
btTransform startTransform;
startTransform.setIdentity();
btVector3 camPos = getCameraPosition();
startTransform.setOrigin(camPos);
btCollisionShape* boxShape = new btBoxShape(btVector3(1.f,1.f,1.f));
CcdPhysicsController* newBox = localCreatePhysicsObject(isDynamic, mass, startTransform,boxShape);
btVector3 linVel(destination[0]-camPos[0],destination[1]-camPos[1],destination[2]-camPos[2]);
linVel.normalize();
linVel*=m_ShootBoxInitialSpeed;
newBox->setPosition(camPos[0],camPos[1],camPos[2]);
newBox->setOrientation(0,0,0,1);
newBox->SetLinearVelocity(linVel[0],linVel[1],linVel[2],false);
newBox->SetAngularVelocity(0,0,0,false);
}
}
@@ -513,11 +486,9 @@ void DemoApplication::mouseFunc(int button, int state, int x, int y)
if (rayCallback.HasHit())
{
if (rayCallback.m_collisionObject->m_internalOwner)
btRigidBody* body = btRigidBody::upcast(rayCallback.m_collisionObject);
if (body)
{
btRigidBody* body = (btRigidBody*)rayCallback.m_collisionObject->m_internalOwner;
if (body)
{
body->SetActivationState(ACTIVE_TAG);
btVector3 impulse = rayTo;
impulse.normalize();
@@ -526,39 +497,10 @@ void DemoApplication::mouseFunc(int button, int state, int x, int y)
btVector3 relPos = rayCallback.m_hitPointWorld - body->getCenterOfMassPosition();
body->applyImpulse(impulse,relPos);
}
}
}
}
//apply an impulse
if (m_physicsEnvironmentPtr)
{
float hit[3];
float normal[3];
PHY_IPhysicsController* hitObj = m_physicsEnvironmentPtr->rayTest(0,m_cameraPosition[0],m_cameraPosition[1],m_cameraPosition[2],rayTo.getX(),rayTo.getY(),rayTo.getZ(),hit[0],hit[1],hit[2],normal[0],normal[1],normal[2]);
if (hitObj)
{
CcdPhysicsController* physCtrl = static_cast<CcdPhysicsController*>(hitObj);
btRigidBody* body = physCtrl->getRigidBody();
if (body)
{
body->SetActivationState(ACTIVE_TAG);
btVector3 impulse = rayTo;
impulse.normalize();
float impulseStrength = 10.f;
impulse *= impulseStrength;
btVector3 relPos(
hit[0] - body->getCenterOfMassPosition().getX(),
hit[1] - body->getCenterOfMassPosition().getY(),
hit[2] - body->getCenterOfMassPosition().getZ());
body->applyImpulse(impulse,relPos);
}
}
}
} else
{
@@ -581,10 +523,11 @@ void DemoApplication::mouseFunc(int button, int state, int x, int y)
if (rayCallback.HasHit())
{
if (rayCallback.m_collisionObject->m_internalOwner)
btRigidBody* body = btRigidBody::upcast(rayCallback.m_collisionObject);
if (body)
{
btRigidBody* body = (btRigidBody*)rayCallback.m_collisionObject->m_internalOwner;
if (body && !body->IsStatic())
if (!body->IsStatic())
{
pickedBody = body;
pickedBody->SetActivationState(DISABLE_DEACTIVATION);
@@ -612,51 +555,6 @@ void DemoApplication::mouseFunc(int button, int state, int x, int y)
}
}
//add a point to point constraint for picking
if (m_physicsEnvironmentPtr)
{
float hit[3];
float normal[3];
PHY_IPhysicsController* hitObj = m_physicsEnvironmentPtr->rayTest(0,m_cameraPosition[0],m_cameraPosition[1],m_cameraPosition[2],rayTo.getX(),rayTo.getY(),rayTo.getZ(),hit[0],hit[1],hit[2],normal[0],normal[1],normal[2]);
if (hitObj)
{
CcdPhysicsController* physCtrl = static_cast<CcdPhysicsController*>(hitObj);
btRigidBody* body = physCtrl->getRigidBody();
if (body && !body->IsStatic())
{
pickedBody = body;
pickedBody->SetActivationState(DISABLE_DEACTIVATION);
btVector3 pickPos(hit[0],hit[1],hit[2]);
btVector3 localPivot = body->getCenterOfMassTransform().inverse() * pickPos;
gPickingConstraintId = m_physicsEnvironmentPtr->createConstraint(physCtrl,0,PHY_POINT2POINT_CONSTRAINT,
localPivot.getX(),
localPivot.getY(),
localPivot.getZ(),
0,0,0);
//printf("created constraint %i",gPickingConstraintId);
//save mouse position for dragging
gOldPickingPos = rayTo;
btVector3 eyePos(m_cameraPosition[0],m_cameraPosition[1],m_cameraPosition[2]);
gOldPickingDist = (pickPos-eyePos).length();
btPoint2PointConstraint* p2p = static_cast<btPoint2PointConstraint*>(m_physicsEnvironmentPtr->getConstraintById(gPickingConstraintId));
if (p2p)
{
//very weak constraint for picking
p2p->m_setting.m_tau = 0.1f;
}
}
}
}
} else
{
@@ -671,17 +569,7 @@ void DemoApplication::mouseFunc(int button, int state, int x, int y)
pickedBody = 0;
}
if (gPickingConstraintId && m_physicsEnvironmentPtr)
{
m_physicsEnvironmentPtr->removeConstraint(gPickingConstraintId);
//printf("removed constraint %i",gPickingConstraintId);
gPickingConstraintId = 0;
pickedBody->ForceActivationState(ACTIVE_TAG);
pickedBody->m_deactivationTime = 0.f;
pickedBody = 0;
}
}
break;
@@ -717,27 +605,7 @@ void DemoApplication::mouseMotionFunc(int x,int y)
}
if (gPickingConstraintId && m_physicsEnvironmentPtr)
{
//move the constraint pivot
btPoint2PointConstraint* p2p = static_cast<btPoint2PointConstraint*>(m_physicsEnvironmentPtr->getConstraintById(gPickingConstraintId));
if (p2p)
{
//keep it at the same picking distance
btVector3 newRayTo = getRayTo(x,y);
btVector3 eyePos(m_cameraPosition[0],m_cameraPosition[1],m_cameraPosition[2]);
btVector3 dir = newRayTo-eyePos;
dir.normalize();
dir *= gOldPickingDist;
btVector3 newPos = eyePos + dir;
p2p->setPivotB(newPos);
}
}
}
@@ -753,82 +621,27 @@ btRigidBody* DemoApplication::localCreateRigidBody(bool isDynamic, float mass, c
btRigidBody* body = new btRigidBody(massProps);
body->m_collisionShape = shape;
body->m_worldTransform = startTransform;
body->m_internalOwner = body;
body->setMassProps( mass, localInertia);
body->setGravity(btVector3(0,-9.8f,0));
if (!isDynamic)
{
body->m_collisionFlags = btCollisionObject::isStatic;//??
// body->getBroadphaseProxy()->m_collisionFilterGroup = 1;/btCcdConstructionInfo::StaticFilter;
// body->getBroadphaseProxy()->m_collisionFilterMask = btCcdConstructionInfo::AllFilter ^ btCcdConstructionInfo::StaticFilter;
body->setMassProps( 0.f, localInertia);
} else
{
body->setMassProps( mass, localInertia);
body->m_collisionFlags = 0;
}
body->setGravity(m_gravity);
return body;
}
///Very basic import
CcdPhysicsController* DemoApplication::localCreatePhysicsObject(bool isDynamic, float mass, const btTransform& startTransform,btCollisionShape* shape)
{
startTransforms[numObjects] = startTransform;
btCcdConstructionInfo ccdObjectCi;
ccdObjectCi.m_friction = 0.5f;
btTransform tr;
tr.setIdentity();
int i = numObjects;
{
gShapePtr[i] = shape;
gShapePtr[i]->setMargin(0.05f);
btQuaternion orn = startTransform.getRotation();
ms[i].setWorldOrientation(orn[0],orn[1],orn[2],orn[3]);
ms[i].setWorldPosition(startTransform.getOrigin().getX(),startTransform.getOrigin().getY(),startTransform.getOrigin().getZ());
ccdObjectCi.m_MotionState = &ms[i];
ccdObjectCi.m_gravity = btVector3(0,-9.8,0);
ccdObjectCi.m_localInertiaTensor =btVector3(0,0,0);
if (!isDynamic)
{
ccdObjectCi.m_mass = 0.f;
ccdObjectCi.m_collisionFlags = btCollisionObject::isStatic;
ccdObjectCi.m_collisionFilterGroup = btCcdConstructionInfo::StaticFilter;
ccdObjectCi.m_collisionFilterMask = btCcdConstructionInfo::AllFilter ^ btCcdConstructionInfo::StaticFilter;
}
else
{
ccdObjectCi.m_mass = mass;
ccdObjectCi.m_collisionFlags = 0;
}
btVector3 localInertia(0.f,0.f,0.f);
if (isDynamic)
{
gShapePtr[i]->calculateLocalInertia(ccdObjectCi.m_mass,localInertia);
}
ccdObjectCi.m_localInertiaTensor = localInertia;
ccdObjectCi.m_collisionShape = gShapePtr[i];
physObjects[i]= new CcdPhysicsController( ccdObjectCi);
// Only do CCD if motion in one timestep (1.f/60.f) exceeds CUBE_HALF_EXTENTS
physObjects[i]->getRigidBody()->m_ccdSquareMotionTreshold = 0.f;
//Experimental: better estimation of CCD Time of Impact:
//physObjects[i]->getRigidBody()->m_ccdSweptShereRadius = 0.5*CUBE_HALF_EXTENTS;
m_physicsEnvironmentPtr->addCcdPhysicsController( physObjects[i]);
}
//return newly created PhysicsController
return physObjects[numObjects++];
}
void DemoApplication::renderme()
{
@@ -950,192 +763,4 @@ void DemoApplication::renderme()
}
if (m_physicsEnvironmentPtr)
{
if (getDebugMode() & btIDebugDraw::DBG_DisableBulletLCP)
{
//don't use Bullet, use quickstep
m_physicsEnvironmentPtr->setSolverType(0);
} else
{
//Bullet LCP solver
m_physicsEnvironmentPtr->setSolverType(1);
}
if (getDebugMode() & btIDebugDraw::DBG_EnableCCD)
{
m_physicsEnvironmentPtr->setCcdMode(3);
} else
{
m_physicsEnvironmentPtr->setCcdMode(0);
}
bool isSatEnabled = (getDebugMode() & btIDebugDraw::DBG_EnableSatComparison);
m_physicsEnvironmentPtr->EnableSatCollisionDetection(isSatEnabled);
int numPhysicsObjects = m_physicsEnvironmentPtr->GetNumControllers();
int i;
for (i=0;i<numPhysicsObjects;i++)
{
CcdPhysicsController* ctrl = m_physicsEnvironmentPtr->GetPhysicsController(i);
btRigidBody* body = ctrl->getRigidBody();
body->m_worldTransform.getOpenGLMatrix( m );
btVector3 wireColor(1.f,1.0f,0.5f); //wants deactivation
if (i & 1)
{
wireColor = btVector3(0.f,0.0f,1.f);
}
///color differently for active, sleeping, wantsdeactivation states
if (ctrl->getRigidBody()->GetActivationState() == 1) //active
{
if (i & 1)
{
wireColor += btVector3 (1.f,0.f,0.f);
} else
{
wireColor += btVector3 (.5f,0.f,0.f);
}
}
if (ctrl->getRigidBody()->GetActivationState() == 2) //ISLAND_SLEEPING
{
if (i & 1)
{
wireColor += btVector3 (0.f,1.f, 0.f);
} else
{
wireColor += btVector3 (0.f,0.5f,0.f);
}
}
char extraDebug[125];
sprintf(extraDebug,"Island:%i, Body:%i",ctrl->getRigidBody()->m_islandTag1,ctrl->getRigidBody()->m_debugBodyId);
ctrl->getRigidBody()->getCollisionShape()->setExtraDebugInfo(extraDebug);
float vec[16];
btTransform ident;
ident.setIdentity();
ident.getOpenGLMatrix(vec);
GL_ShapeDrawer::drawOpenGL(m,ctrl->getRigidBody()->getCollisionShape(),wireColor,getDebugMode());
}
if (!(getDebugMode() & btIDebugDraw::DBG_NoHelpText))
{
float xOffset = 10.f;
float yStart = 20.f;
float yIncr = -2.f;
char buf[124];
glColor3f(0, 0, 0);
#ifdef USE_QUICKPROF
if ( getDebugMode() & btIDebugDraw::DBG_ProfileTimings)
{
static int counter = 0;
counter++;
std::map<std::string, hidden::ProfileBlock*>::iterator iter;
for (iter = btProfiler::mProfileBlocks.begin(); iter != btProfiler::mProfileBlocks.end(); ++iter)
{
char blockTime[128];
sprintf(blockTime, "%s: %lf",&((*iter).first[0]),btProfiler::getBlockTime((*iter).first, btProfiler::BLOCK_CYCLE_SECONDS));//BLOCK_TOTAL_PERCENT));
glRasterPos3f(xOffset,yStart,0);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),blockTime);
yStart += yIncr;
}
}
#endif //USE_QUICKPROF
//profiling << btProfiler::createStatsString(btProfiler::BLOCK_TOTAL_PERCENT);
//<< std::endl;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"mouse to interact");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"space to reset");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"cursor keys and z,x to navigate");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"i to toggle simulation, s single step");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"q to quit");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"d to toggle deactivation");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"a to draw temporal AABBs");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"h to toggle help text");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
bool useBulletLCP = !(getDebugMode() & btIDebugDraw::DBG_DisableBulletLCP);
bool useCCD = (getDebugMode() & btIDebugDraw::DBG_EnableCCD);
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"m Bullet GJK = %i",!isSatEnabled);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"n Bullet LCP = %i",useBulletLCP);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"1 CCD mode (adhoc) = %i",useCCD);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"+- shooting speed = %10.2f",m_ShootBoxInitialSpeed);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
}
}
}

23
Demos/OpenGL/DemoApplication.h
View File

@@ -39,8 +39,6 @@ subject to the following restrictions:
#include "LinearMath/btMatrix3x3.h"
#include "LinearMath/btTransform.h"
class CcdPhysicsEnvironment;
class CcdPhysicsController;
class btCollisionShape;
class btDynamicsWorld;
class btRigidBody;
@@ -53,12 +51,13 @@ class DemoApplication
///this is the most important class
CcdPhysicsEnvironment* m_physicsEnvironmentPtr;
btDynamicsWorld* m_dynamicsWorld;
///constraint for mouse picking
btTypedConstraint* m_pickConstraint;
btVector3 m_gravity;
float m_cameraDistance;
int m_debugMode;
@@ -82,12 +81,16 @@ class DemoApplication
bool m_idle;
int m_lastKey;
public:
public:
DemoApplication();
virtual ~DemoApplication();
btDynamicsWorld* getDynamicsWorld()
{
return m_dynamicsWorld;
}
int getDebugMode()
{
@@ -99,10 +102,6 @@ class DemoApplication
m_debugMode = mode;
}
CcdPhysicsEnvironment* getPhysicsEnvironment()
{
return m_physicsEnvironmentPtr;
}
void setCameraUp(const btVector3& camUp)
{
@@ -142,10 +141,12 @@ class DemoApplication
///Demo functions
void shootBox(const btVector3& destination);
void setGravity(const btVector3& grav)
{
m_gravity = grav;
}
btVector3 getRayTo(int x,int y);
CcdPhysicsController* localCreatePhysicsObject(bool isDynamic, float mass, const btTransform& startTransform,btCollisionShape* shape);
btRigidBody* localCreateRigidBody(bool isDynamic, float mass, const btTransform& startTransform,btCollisionShape* shape);
///callback methods by glut

2
Demos/OpenGL/GL_ShapeDrawer.cpp
View File

@@ -226,7 +226,7 @@ void GL_ShapeDrawer::drawOpenGL(float* m, const btCollisionShape* shape, const b
gluCylinder(quadObj, radius, radius, 2.f*halfHeight, 15, 10);
glPopMatrix();
glEndList();
gluDeleteQuadric(quadObj);
break;
}