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