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Enable graphical benchmark by default in cmake

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Toggle between point to point and generic 6dof constraint for mouse picking in the demos

Use a 'equal vertex thresdhold' in the btVoronoiSimplexSolver of  0.0001f by default.
This can be disabled (or configured) using defaultCollisionConfiguration->getSimplexSolver()->setEqualVertexThreshold(0.f);
See http://code.google.com/p/bullet/issues/detail?id=305
This commit is contained in:
erwin.coumans
2010-02-24 01:28:23 +00:00
parent 1425feec26
commit e156967762
6 changed files with 136 additions and 62 deletions
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1
Demos/Benchmarks/BenchmarkDemo.cpp
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@@ -41,6 +41,7 @@ subject to the following restrictions:
#endif
#undef USE_PARALLEL_SOLVER_BENCHMARK
#ifdef USE_PARALLEL_SOLVER_BENCHMARK
#include "BulletMultiThreaded/btParallelConstraintSolver.h"
#endif

165
Demos/OpenGL/DemoApplication.cpp
View File

@@ -17,7 +17,7 @@ subject to the following restrictions:
#include "DemoApplication.h"
#include "LinearMath/btIDebugDraw.h"
#include "BulletDynamics/Dynamics/btDynamicsWorld.h"
//#define USE_6DOF 1
#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"//picking
#include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h"//picking
@@ -33,7 +33,7 @@ subject to the following restrictions:
#include "LinearMath/btSerializer.h"
#include "GLDebugFont.h"
static bool use6Dof = false;
extern bool gDisableDeactivation;
int numObjects = 0;
const int maxNumObjects = 16384;
@@ -554,6 +554,7 @@ void DemoApplication::shootBox(const btVector3& destination)
btRigidBody* body = this->localCreateRigidBody(mass, startTransform,m_shootBoxShape);
body->setLinearFactor(btVector3(1,1,1));
//body->setRestitution(1);
btVector3 linVel(destination[0]-camPos[0],destination[1]-camPos[1],destination[2]-camPos[2]);
linVel.normalize();
@@ -782,37 +783,62 @@ void DemoApplication::mouseFunc(int button, int state, int x, int y)
#ifdef USE_6DOF
btTransform tr;
tr.setIdentity();
tr.setOrigin(localPivot);
btGeneric6DofConstraint* dof6 = new btGeneric6DofConstraint(*body, tr,false);
dof6->setLinearLowerLimit(btVector3(0,0,0));
dof6->setLinearUpperLimit(btVector3(0,0,0));
dof6->setAngularLowerLimit(btVector3(0,0,0));
dof6->setAngularUpperLimit(btVector3(0,0,0));
m_dynamicsWorld->addConstraint(dof6);
m_pickConstraint = dof6;
#else
btPoint2PointConstraint* p2p = new btPoint2PointConstraint(*body,localPivot);
m_dynamicsWorld->addConstraint(p2p);
m_pickConstraint = p2p;
p2p->m_setting.m_impulseClamp = mousePickClamping;
//very weak constraint for picking
p2p->m_setting.m_tau = 0.1f;
#endif
if (use6Dof)
{
btTransform tr;
tr.setIdentity();
tr.setOrigin(localPivot);
btGeneric6DofConstraint* dof6 = new btGeneric6DofConstraint(*body, tr,false);
dof6->setLinearLowerLimit(btVector3(0,0,0));
dof6->setLinearUpperLimit(btVector3(0,0,0));
dof6->setAngularLowerLimit(btVector3(0,0,0));
dof6->setAngularUpperLimit(btVector3(0,0,0));
m_dynamicsWorld->addConstraint(dof6);
m_pickConstraint = dof6;
dof6->setParam(BT_CONSTRAINT_STOP_CFM,0.8,0);
dof6->setParam(BT_CONSTRAINT_STOP_CFM,0.8,1);
dof6->setParam(BT_CONSTRAINT_STOP_CFM,0.8,2);
dof6->setParam(BT_CONSTRAINT_STOP_CFM,0.8,3);
dof6->setParam(BT_CONSTRAINT_STOP_CFM,0.8,4);
dof6->setParam(BT_CONSTRAINT_STOP_CFM,0.8,5);
dof6->setParam(BT_CONSTRAINT_STOP_ERP,0.1,0);
dof6->setParam(BT_CONSTRAINT_STOP_ERP,0.1,1);
dof6->setParam(BT_CONSTRAINT_STOP_ERP,0.1,2);
dof6->setParam(BT_CONSTRAINT_STOP_ERP,0.1,3);
dof6->setParam(BT_CONSTRAINT_STOP_ERP,0.1,4);
dof6->setParam(BT_CONSTRAINT_STOP_ERP,0.1,5);
} else
{
btPoint2PointConstraint* p2p = new btPoint2PointConstraint(*body,localPivot);
m_dynamicsWorld->addConstraint(p2p);
m_pickConstraint = p2p;
p2p->m_setting.m_impulseClamp = mousePickClamping;
//very weak constraint for picking
p2p->m_setting.m_tau = 0.001f;
/*
p2p->setParam(BT_CONSTRAINT_CFM,0.8,0);
p2p->setParam(BT_CONSTRAINT_CFM,0.8,1);
p2p->setParam(BT_CONSTRAINT_CFM,0.8,2);
p2p->setParam(BT_CONSTRAINT_ERP,0.1,0);
p2p->setParam(BT_CONSTRAINT_ERP,0.1,1);
p2p->setParam(BT_CONSTRAINT_ERP,0.1,2);
*/
}
use6Dof = !use6Dof;
//save mouse position for dragging
gOldPickingPos = rayTo;
gHitPos = pickPos;
gOldPickingDist = (pickPos-rayFrom).length();
}
}
}
@@ -851,47 +877,64 @@ void DemoApplication::mouseMotionFunc(int x,int y)
if (m_pickConstraint)
{
//move the constraint pivot
#ifdef USE_6DOF
btGeneric6DofConstraint* pickCon = static_cast<btGeneric6DofConstraint*>(m_pickConstraint);
#else
btPoint2PointConstraint* pickCon = static_cast<btPoint2PointConstraint*>(m_pickConstraint);
#endif
if (pickCon)
if (m_pickConstraint->getConstraintType() == D6_CONSTRAINT_TYPE)
{
//keep it at the same picking distance
btVector3 newRayTo = getRayTo(x,y);
btVector3 rayFrom;
#ifdef USE_6DOF
btVector3 oldPivotInB = pickCon->getFrameOffsetA().getOrigin();
#else
btVector3 oldPivotInB = pickCon->getPivotInB();
#endif
btVector3 newPivotB;
if (m_ortho)
btGeneric6DofConstraint* pickCon = static_cast<btGeneric6DofConstraint*>(m_pickConstraint);
if (pickCon)
{
newPivotB = oldPivotInB;
newPivotB.setX(newRayTo.getX());
newPivotB.setY(newRayTo.getY());
} else
{
rayFrom = m_cameraPosition;
btVector3 dir = newRayTo-rayFrom;
dir.normalize();
dir *= gOldPickingDist;
//keep it at the same picking distance
newPivotB = rayFrom + dir;
btVector3 newRayTo = getRayTo(x,y);
btVector3 rayFrom;
btVector3 oldPivotInB = pickCon->getFrameOffsetA().getOrigin();
btVector3 newPivotB;
if (m_ortho)
{
newPivotB = oldPivotInB;
newPivotB.setX(newRayTo.getX());
newPivotB.setY(newRayTo.getY());
} else
{
rayFrom = m_cameraPosition;
btVector3 dir = newRayTo-rayFrom;
dir.normalize();
dir *= gOldPickingDist;
newPivotB = rayFrom + dir;
}
pickCon->getFrameOffsetA().setOrigin(newPivotB);
}
#ifdef USE_6DOF
pickCon->getFrameOffsetA().setOrigin(newPivotB);
#else
pickCon->setPivotB(newPivotB);
#endif
} else
{
btPoint2PointConstraint* pickCon = static_cast<btPoint2PointConstraint*>(m_pickConstraint);
if (pickCon)
{
//keep it at the same picking distance
btVector3 newRayTo = getRayTo(x,y);
btVector3 rayFrom;
btVector3 oldPivotInB = pickCon->getPivotInB();
btVector3 newPivotB;
if (m_ortho)
{
newPivotB = oldPivotInB;
newPivotB.setX(newRayTo.getX());
newPivotB.setY(newRayTo.getY());
} else
{
rayFrom = m_cameraPosition;
btVector3 dir = newRayTo-rayFrom;
dir.normalize();
dir *= gOldPickingDist;
newPivotB = rayFrom + dir;
}
pickCon->setPivotB(newPivotB);
}
}
}
float dx, dy;