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+ improved split impulse constraint solver option

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+ improved friction warm starting
+ made constraint solver configuration more consistent (moved m_solverMode into btContactSolverInfo)
+ reset timing in CDTestFramework after initialization (SAP init destorts timings)
+ make it easier to change default sizes for stack allocator in btDefaultCollisionConfiguration
This commit is contained in:
erwin.coumans
2008-05-29 03:33:32 +00:00
parent 6457f5a961
commit d49aeb9dff
25 changed files with 386 additions and 149 deletions
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1
Demos/AllBulletDemos/DemoEntries.cpp
View File

@@ -102,6 +102,7 @@ public:
btDemoEntry g_demoEntries[] =
{
{"SoftBody Cloth",SoftDemo0::Create},
{"SoftBody Pressure",SoftDemo1::Create},
{"SoftBody Volume",SoftDemo2::Create},

165
Demos/AllBulletDemos/Main.cpp
View File

@@ -21,7 +21,7 @@
#include "glui/GL/glui.h"
#include "LinearMath/btScalar.h"
#include "LinearMath/btMinMax.h"
#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
#include "DemoApplication.h"
#include "DemoEntries.h"
#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
@@ -34,25 +34,83 @@
namespace
{
int testIndex = 0;
int testSelection = 0;
int testIndex=0;
int testSelection=0;
btDemoEntry* entry;
DemoApplication* demo;
int iterationCount = 10;
int width = 640;
int height = 480;
int framePeriod = 16;//todo: test if this value should be 0
int iterationCount;
int width;
int height;
int framePeriod;//todo: test if this value should be 0
int mainWindow;
GLUI *glui;
float hz;
float viewZoom = 20.0f;
float viewX = 0.0f;
float viewY = 0.0f;
float viewZoom=20.f;
float viewX;
float viewY;
int tx, ty, tw, th;
int gDrawAabb=0;
int gWireFrame=0;
int gDebugContacts=0;
int gDebugNoDeactivation = 0;
int gDrawAabb;
int gWireFrame;
int gDebugContacts;
int gDebugNoDeactivation;
int gUseWarmstarting;
int gRandomizeConstraints;
int gUseSplitImpulse;
float gErp;
float gSlop;
float gErp2;
float gWarmStartingParameter;
}
void setDefaultSettings()
{
viewX = 0.0f;
viewY = 0.0f;
framePeriod = 16;//todo: test if this value should be 0
width = 640;
height = 480;
iterationCount = 10;
gDrawAabb=0;
gWireFrame=0;
gDebugContacts=0;
gDebugNoDeactivation = 0;
gUseSplitImpulse = 0;
gUseWarmstarting = 1;
gRandomizeConstraints = 1;
gErp = 0.2f;
gSlop=0.0f;
gErp2 = 0.1f;
gWarmStartingParameter = 0.85f;
}
void setDefaultSettingsAndSync()
{
setDefaultSettings();
glui->sync_live();
}
void TogglePause()
{
if (demo)
demo->toggleIdle();
}
void ResetScene()
{
if (demo)
demo->clientResetScene();
}
void SingleSimulationStep()
{
if (demo)
demo->clientMoveAndDisplay();
}
@@ -136,6 +194,7 @@ void SimulationLoop()
demo->setDebugMode(demo->getDebugMode() & (~btIDebugDraw::DBG_DrawContactPoints));
}
if (gDebugNoDeactivation)
{
demo->setDebugMode(demo->getDebugMode() |btIDebugDraw::DBG_NoDeactivation);
@@ -148,8 +207,31 @@ void SimulationLoop()
{
btDiscreteDynamicsWorld* discreteWorld = (btDiscreteDynamicsWorld*) demo->getDynamicsWorld();
discreteWorld->getSolverInfo().m_numIterations = iterationCount;
}
discreteWorld->getSolverInfo().m_erp = gErp;
discreteWorld->getSolverInfo().m_erp2 = gErp2;
discreteWorld->getSolverInfo().m_linearSlop = gSlop;
discreteWorld->getSolverInfo().m_warmstartingFactor = gWarmStartingParameter;
discreteWorld->getSolverInfo().m_splitImpulse = gUseSplitImpulse;
btSequentialImpulseConstraintSolver* solver = ((btSequentialImpulseConstraintSolver*) discreteWorld->getConstraintSolver());
if (gUseWarmstarting)
{
discreteWorld->getSolverInfo().m_solverMode |= SOLVER_USE_WARMSTARTING;
} else
{
discreteWorld->getSolverInfo().m_solverMode &= (~SOLVER_USE_WARMSTARTING);
}
if (gRandomizeConstraints)
{
discreteWorld->getSolverInfo().m_solverMode |= SOLVER_RANDMIZE_ORDER;
} else
{
discreteWorld->getSolverInfo().m_solverMode &= (~SOLVER_RANDMIZE_ORDER);
}
}
if (!demo->isIdle())
{
@@ -176,6 +258,19 @@ void SimulationLoop()
}
}
void RestartScene()
{
if (demo->getDynamicsWorld() && demo->getDynamicsWorld()->getDebugDrawer())
delete demo->getDynamicsWorld()->getDebugDrawer();
delete demo;
entry = g_demoEntries + testIndex;
demo = CreatDemo(entry);
viewZoom = 20.0f;
viewX = 0.0f;
viewY = 0.0f;
Resize(width, height);
}
void Keyboard(unsigned char key, int x, int y)
{
@@ -234,7 +329,7 @@ void MouseMotion(int x, int y)
int main(int argc, char** argv)
{
setDefaultSettings();
int bulletVersion = btGetVersion();
printf("Bullet version %d\n",bulletVersion);
@@ -260,6 +355,8 @@ int main(int argc, char** argv)
glui = GLUI_Master.create_glui_subwindow( mainWindow,
GLUI_SUBWINDOW_RIGHT );
glui->add_statictext("Tests");
GLUI_Listbox* testList =
glui->add_listbox("", &testSelection);
@@ -268,20 +365,35 @@ int main(int argc, char** argv)
GLUI_Spinner* iterationSpinner =
glui->add_spinner("Iterations", GLUI_SPINNER_INT, &iterationCount);
iterationSpinner->set_int_limits(1, 100);
iterationSpinner->set_int_limits(1, 250);
/* GLUI_Spinner* hertzSpinner =
glui->add_spinner("Hertz", GLUI_SPINNER_FLOAT, &hz);
hertzSpinner->set_float_limits(5.0f, 200.0f);
*/
// glui->add_checkbox("Position Correction", &settings.enablePositionCorrection);
// glui->add_checkbox("Warm Starting", &settings.enablePositionCorrection);
glui->add_checkbox("DisableDeactivation", &gDebugNoDeactivation);
glui->add_checkbox("Split Impulse", &gUseSplitImpulse);
GLUI_Spinner* spinner = 0;
spinner = glui->add_spinner("ERP", GLUI_SPINNER_FLOAT, &gErp);
spinner->set_float_limits(0.f,1.f);
spinner = glui->add_spinner("ERP2", GLUI_SPINNER_FLOAT, &gErp2);
spinner->set_float_limits(0.f,1.f);
spinner = glui->add_spinner("Slop", GLUI_SPINNER_FLOAT, &gSlop);
spinner->set_float_limits(0.f,1.f);
spinner = glui->add_spinner("WSP", GLUI_SPINNER_FLOAT,&gWarmStartingParameter);
spinner->set_float_limits (0.f,1.0);
glui->add_checkbox("Warmstarting", &gUseWarmstarting);
glui->add_checkbox("Randomize Constraints", &gRandomizeConstraints);
glui->add_button("Reset Defaults", 0,(GLUI_Update_CB)setDefaultSettingsAndSync);
glui->add_separator();
GLUI_Panel* drawPanel = glui->add_panel("Draw");
GLUI_Panel* drawPanel = glui->add_panel("Debug Draw");
glui->add_checkbox_to_panel(drawPanel, "AABBs", &gDrawAabb);
glui->add_checkbox_to_panel(drawPanel, "Wireframe", &gWireFrame);
@@ -299,8 +411,19 @@ int main(int argc, char** argv)
++testCount;
++e;
}
glui->add_separator();
glui->add_button("Toggle Pause", 0,(GLUI_Update_CB)TogglePause);
glui->add_button("Single Step", 0,(GLUI_Update_CB)SingleSimulationStep);
glui->add_button("Reset Scene", 0,(GLUI_Update_CB)ResetScene);
glui->add_button("Restart Scene", 0,(GLUI_Update_CB)RestartScene);
glui->add_separator();
glui->add_button("Exit", 0,(GLUI_Update_CB)exit);
glui->add_button("Quit", 0,(GLUI_Update_CB)exit);
glui->set_main_gfx_window( mainWindow );
// Use a timer to control the frame rate.

2
Demos/Benchmarks/BenchmarkDemo.cpp
View File

@@ -277,7 +277,7 @@ void BenchmarkDemo::initPhysics()
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
sol->setSolverMode(btSequentialImpulseConstraintSolver::SOLVER_CACHE_FRIENDLY);
m_solver = sol;
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_solver,m_collisionConfiguration);

26
Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
View File

@@ -25,8 +25,9 @@ subject to the following restrictions:
//#define CENTER_OF_MASS_SHIFT 1
//#define VERBOSE_TIMESTEPPING_CONSOLEOUTPUT 1
//#define USE_PARALLEL_SOLVER 1 //experimental parallel solver
//#define USE_PARALLEL_DISPATCHER 1
//#define USE_PARALLEL_SOLVER 1 //experimental parallel solver
//from Bullet 2.68 onwards ODE Quickstep constraint solver is optional part of Bullet, re-distributed under the ZLib license with permission of Russell L. Smith
//#define COMPARE_WITH_QUICKSTEP 1
@@ -338,6 +339,7 @@ void CcdPhysicsDemo::initPhysics()
#ifdef DO_BENCHMARK_PYRAMIDS
m_collisionShapes.push_back(new btBoxShape (btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)));
#else
// m_collisionShapes.push_back(new btBoxShape (btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)));
m_collisionShapes.push_back(new btCylinderShape (btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)));
#endif
@@ -432,22 +434,24 @@ int maxNumOutstandingTasks = 4;
#else
btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver();
m_solver = solver;
//default solverMode is SOLVER_RANDMIZE_ORDER. Warmstarting seems not to improve convergence, see
//solver->setSolverMode(0);//btSequentialImpulseConstraintSolver::SOLVER_USE_WARMSTARTING | btSequentialImpulseConstraintSolver::SOLVER_RANDMIZE_ORDER);
m_solver = solver;//new btOdeQuickstepConstraintSolver();
#endif //USE_PARALLEL_SOLVER
#endif
#ifdef USER_DEFINED_FRICTION_MODEL
//user defined friction model is not supported in 'cache friendly' solver yet, so switch to old solver
m_solver->setSolverMode(btSequentialImpulseConstraintSolver::SOLVER_RANDMIZE_ORDER);
#endif //USER_DEFINED_FRICTION_MODEL
btDiscreteDynamicsWorld* world = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
m_dynamicsWorld = world;
#ifdef USER_DEFINED_FRICTION_MODEL
//user defined friction model is not supported in 'cache friendly' solver yet, so switch to old solver
world->getSolverInfo().m_solverMode = SOLVER_RANDMIZE_ORDER;
#endif //USER_DEFINED_FRICTION_MODEL
#ifdef DO_BENCHMARK_PYRAMIDS
world->getSolverInfo().m_numIterations = 4;
#endif //DO_BENCHMARK_PYRAMIDS
@@ -460,9 +464,9 @@ int maxNumOutstandingTasks = 4;
#ifdef USER_DEFINED_FRICTION_MODEL
{
//m_solver->setContactSolverFunc(ContactSolverFunc func,USER_CONTACT_SOLVER_TYPE1,DEFAULT_CONTACT_SOLVER_TYPE);
m_solver->SetFrictionSolverFunc(myFrictionModel,USER_CONTACT_SOLVER_TYPE1,DEFAULT_CONTACT_SOLVER_TYPE);
m_solver->SetFrictionSolverFunc(myFrictionModel,DEFAULT_CONTACT_SOLVER_TYPE,USER_CONTACT_SOLVER_TYPE1);
m_solver->SetFrictionSolverFunc(myFrictionModel,USER_CONTACT_SOLVER_TYPE1,USER_CONTACT_SOLVER_TYPE1);
solver->SetFrictionSolverFunc(myFrictionModel,USER_CONTACT_SOLVER_TYPE1,DEFAULT_CONTACT_SOLVER_TYPE);
solver->SetFrictionSolverFunc(myFrictionModel,DEFAULT_CONTACT_SOLVER_TYPE,USER_CONTACT_SOLVER_TYPE1);
solver->SetFrictionSolverFunc(myFrictionModel,USER_CONTACT_SOLVER_TYPE1,USER_CONTACT_SOLVER_TYPE1);
//m_physicsEnvironmentPtr->setNumIterations(2);
}
#endif //USER_DEFINED_FRICTION_MODEL

14
Demos/SoftDemo/SoftDemo.cpp
View File

@@ -132,18 +132,18 @@ void SoftDemo::clientMoveAndDisplay()
m_node->m_v+=(m_goal-m_node->m_x)/dt;
}
#define FIXED_STEP
//#define FIXED_STEP
#ifdef FIXED_STEP
m_dynamicsWorld->stepSimulation(dt=1.0f/60.f,0);
#else
//during idle mode, just run 1 simulation step maximum
int maxSimSubSteps = m_idle ? 1 : 1;
if (m_idle)
dt = 1.0/420.f;
//during idle mode, just run 1 simulation step maximum, otherwise 4 at max
int maxSimSubSteps = m_idle ? 1 : 4;
//if (m_idle)
// dt = 1.0/420.f;
int numSimSteps = 0;
numSimSteps = m_dynamicsWorld->stepSimulation(dt,maxSimSubSteps);
int numSimSteps;
numSimSteps = m_dynamicsWorld->stepSimulation(dt);
#ifdef VERBOSE_TIMESTEPPING_CONSOLEOUTPUT
if (!numSimSteps)