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

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Fix potential division by zero when enabling convex distance utility.
Thanks to linzner http://code.google.com/p/bullet/issues/detail?id=264
This commit is contained in:
erwin.coumans
2009-08-12 08:18:57 +00:00
parent ae3255f5e9
commit e89fe1cbfa
17 changed files with 152 additions and 90 deletions
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38
Demos/Benchmarks/BenchmarkDemo.cpp
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@@ -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