Make BenchmarkDemo a console application, without OpenGL/Glut dependency.

Fix potential division by zero when enabling convex distance utility.
Thanks to linzner http://code.google.com/p/bullet/issues/detail?id=264

Demos/Benchmarks/BenchmarkDemo.cpp

@@ -16,10 +16,11 @@ subject to the following restrictions:
 // Collision Radius
 #define COLLISION_RADIUS 0.0f
 
-
-
 #include "BenchmarkDemo.h"
+#ifdef USE_GLUT_DEMO_APPLICATION
 #include "GlutStuff.h"
+#endif //USE_GLUT_DEMO_APPLICATION
+
 ///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
 #include "btBulletDynamicsCommon.h"
 #include <stdio.h> //printf debugging
@@ -177,6 +178,7 @@ public:
 
 	void draw ()
 	{
+#ifdef USE_GLUT_DEMO_APPLICATION
 		glDisable (GL_LIGHTING);
 		glColor3f (0.0, 1.0, 0.0);
 		glBegin (GL_LINES);
@@ -204,6 +206,8 @@ public:
 		}
 		glEnd ();
 		glEnable (GL_LIGHTING);
+#endif //USE_GLUT_DEMO_APPLICATION
+
 	}
 };
 
@@ -213,7 +217,9 @@ static btRaycastBar2 raycastBar;
 
 void BenchmarkDemo::clientMoveAndDisplay()
 {
+#ifdef USE_GLUT_DEMO_APPLICATION
 	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
+#endif //USE_GLUT_DEMO_APPLICATION
 
 	//simple dynamics world doesn't handle fixed-time-stepping
 	float ms = getDeltaTimeMicroseconds();
@@ -236,16 +242,20 @@ void BenchmarkDemo::clientMoveAndDisplay()
 
 	renderme(); 
 
+#ifdef USE_GLUT_DEMO_APPLICATION
 	glFlush();
 
 	glutSwapBuffers();
+#endif //USE_GLUT_DEMO_APPLICATION
 
 }
 
 
 
-void BenchmarkDemo::displayCallback(void) {
+void BenchmarkDemo::displayCallback(void) 
+{
 
+#ifdef USE_GLUT_DEMO_APPLICATION
 	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
 	
 	renderme();
@@ -256,6 +266,7 @@ void BenchmarkDemo::displayCallback(void) {
 
 	glFlush();
 	glutSwapBuffers();
+#endif //USE_GLUT_DEMO_APPLICATION
 }
 
 
@@ -1213,5 +1224,26 @@ void	BenchmarkDemo::exitPhysics()
 
 
 
+#ifndef USE_GLUT_DEMO_APPLICATION
+btRigidBody*	DemoApplication::localCreateRigidBody(float mass, const btTransform& startTransform,btCollisionShape* shape)
+{
+	btAssert((!shape || shape->getShapeType() != INVALID_SHAPE_PROXYTYPE));
 
+	//rigidbody is dynamic if and only if mass is non zero, otherwise static
+	bool isDynamic = (mass != 0.f);
+
+	btVector3 localInertia(0,0,0);
+	if (isDynamic)
+		shape->calculateLocalInertia(mass,localInertia);
+
+	//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
+
+	btRigidBody* body = new btRigidBody(mass,0,shape,localInertia);	
+	body->setWorldTransform(startTransform);
+
+	m_dynamicsWorld->addRigidBody(body);
+
+	return body;
+}
+#endif //USE_GLUT_DEMO_APPLICATION
 

Demos/Benchmarks/BenchmarkDemo.h

@@ -15,10 +15,15 @@ subject to the following restrictions:
 #ifndef BENCHMARK_DEMO_H
 #define BENCHMARK_DEMO_H
 
-#include "GlutDemoApplication.h"
+
 #include "LinearMath/btAlignedObjectArray.h"
+#include "LinearMath/btTransform.h"
+
+class btDynamicsWorld;
+
 #define NUMRAYS 500
 
+class btRigidBody;
 class btBroadphaseInterface;
 class btCollisionShape;
 class btOverlappingPairCache;
@@ -27,8 +32,39 @@ class btConstraintSolver;
 struct btCollisionAlgorithmCreateFunc;
 class btDefaultCollisionConfiguration;
 
+#ifndef USE_GLUT_DEMO_APPLICATION
+///empty placeholder
+class DemoApplication
+{
+protected:
+
+	btDynamicsWorld* m_dynamicsWorld;
+public:
+	virtual void myinit() {}
+	virtual btDynamicsWorld* getDynamicsWorld()
+	{
+		return m_dynamicsWorld;
+	}
+
+	btScalar	getDeltaTimeMicroseconds()
+	{
+		return 1.f;
+	}
+
+	void	renderme() {}
+	void	setCameraDistance(btScalar dist){}
+	void	clientResetScene(){}
+	btRigidBody*	localCreateRigidBody(float mass, const btTransform& startTransform,btCollisionShape* shape);
+
+};
 ///BenchmarkDemo is provides several performance tests
+class BenchmarkDemo : public DemoApplication
+#else
+#include "GlutDemoApplication.h"
 class BenchmarkDemo : public GlutDemoApplication
+#endif
+
+
 {
 
 	//keep the collision shapes, for deletion/cleanup

Demos/Benchmarks/CMakeLists.txt

@@ -15,7 +15,7 @@ ${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL }
 )
 
 LINK_LIBRARIES(
-OpenGLSupport   BulletDynamics  BulletCollision LinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+  BulletDynamics  BulletCollision LinearMath
 )
 
 ADD_EXECUTABLE(AppBenchmarks

Demos/Benchmarks/Jamfile

@@ -1,3 +1,3 @@
 SubDir TOP Demos Benchmarks ;
 
-BulletDemo Benchmarks : [ Wildcard *.h *.cpp  ] ;
+BulletBasicDemo Benchmarks : [ Wildcard *.h *.cpp  ] ;

Demos/Benchmarks/main.cpp

@@ -14,32 +14,70 @@ subject to the following restrictions:
 */
 
 #include "BenchmarkDemo.h"
-#include "GlutStuff.h"
-#include "GLDebugDrawer.h"
 #include "btBulletDynamicsCommon.h"
 #include "LinearMath/btHashMap.h"
+#include <stdio.h>
+
+#ifdef USE_GLUT_DEMO_APPLICATION
+	#include "GlutStuff.h"
+	#include "GLDebugDrawer.h"
+	GLDebugDrawer	gDebugDrawer;
+#endif //USE_GLUT_DEMO_APPLICATION
 
 
+#define NUM_DEMOS 7
+#define NUM_TESTS 650
+
+extern bool gDisableDeactivation;
 
-	
 int main(int argc,char** argv)
 {
-	GLDebugDrawer	gDebugDrawer;
+	gDisableDeactivation = true;
 
-//	BenchmarkDemo1 benchmarkDemo;
-//	BenchmarkDemo2 benchmarkDemo;
-//	BenchmarkDemo3 benchmarkDemo;
-	BenchmarkDemo4 benchmarkDemo;
-//	BenchmarkDemo5 benchmarkDemo;
-//	BenchmarkDemo6 benchmarkDemo;
-//	BenchmarkDemo7 benchmarkDemo;
+	BenchmarkDemo1 benchmarkDemo1;
+	BenchmarkDemo2 benchmarkDemo2;
+	BenchmarkDemo3 benchmarkDemo3;
+	BenchmarkDemo4 benchmarkDemo4;
+	BenchmarkDemo5 benchmarkDemo5;
+	BenchmarkDemo6 benchmarkDemo6;
+	BenchmarkDemo7 benchmarkDemo7;
 
+	BenchmarkDemo* demoArray[NUM_DEMOS] = {&benchmarkDemo1,&benchmarkDemo2,&benchmarkDemo3,&benchmarkDemo4,&benchmarkDemo5,&benchmarkDemo6,&benchmarkDemo7};
+	char* demoNames[NUM_DEMOS] = {"3000 fall", "1000 stack", "136 ragdolls","1000 convex", "prim-trimesh", "convex-trimesh","raytests"};
+	float totalTime[NUM_DEMOS] = {0.f,0.f,0.f,0.f,0.f,0.f,0.f};
 
-	benchmarkDemo.initPhysics();
+#ifdef USE_GLUT_DEMO_APPLICATION
 	benchmarkDemo.getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
-
 	return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bulletphysics.com",&benchmarkDemo);
-	
-	//default glut doesn't return from mainloop
+#else
+	int d;
+
+	for (d=0;d<NUM_DEMOS;d++)
+	{
+		demoArray[d]->initPhysics();
+		
+
+		for (int i=0;i<NUM_TESTS;i++)
+		{
+			demoArray[d]->clientMoveAndDisplay();
+			float frameTime = CProfileManager::Get_Time_Since_Reset();
+			if ((i % 25)==0)
+			{
+				printf("BenchmarkDemo: %s, Frame %d, Duration (ms): %f\n",demoNames[d],i,frameTime);
+			}
+			totalTime[d] += frameTime;
+			if (i==NUM_TESTS-1)
+				CProfileManager::dumpAll();
+
+			
+		}
+	}
+
+	for (d=0;d<NUM_DEMOS;d++)
+	{
+		printf("\nResults for %s: %f",demoNames[d],totalTime[d]*(1.f/NUM_TESTS));
+	}
+
+#endif
 	return 0;
 }