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/AllBulletDemos/CMakeLists.txt

@@ -27,7 +27,6 @@ ADD_EXECUTABLE(AppAllBulletDemos
 	DemoEntries.cpp
  	 ../CcdPhysicsDemo/CcdPhysicsDemo.cpp
    ../BasicDemo/BasicDemo.cpp
-	../Benchmarks/BenchmarkDemo.cpp
 	../BspDemo/BspDemo.cpp
   ../BspDemo/BspConverter.cpp
   ../BspDemo/BspLoader.cpp

Demos/AllBulletDemos/DemoEntries.cpp

@@ -30,7 +30,7 @@ subject to the following restrictions:
 #include "../GjkConvexCastDemo/LinearConvexCastDemo.h"
 #include "../ForkLiftDemo/ForkLiftDemo.h"
 #include "../ConstraintDemo/ConstraintDemo.h"
-#include "../Benchmarks/BenchmarkDemo.h"
+//#include "../Benchmarks/BenchmarkDemo.h"
 #include "../SoftDemo/SoftDemo.h"
 #include "GLDebugFont.h"
 
@@ -109,12 +109,13 @@ btDemoEntry g_demoEntries[] =
 	{"ForkLift Demo",ForkLiftDemo::Create},
 	{"Ragdoll Demo",RagdollDemo::Create},
 	{"Basic Demo", BasicDemo::Create},	
+	{"CcdPhysicsDemo", CcdPhysicsDemo::Create},
 	{"Convex Decomposition",ConvexDecompositionDemo::Create},
 	{"Concave Moving", GimpactConcaveDemo::Create},
 	{"Dynamic Control Demo",MotorDemo::Create},
-	//{"ConcaveDemo",ConcaveDemo::Create},
+	{"ConcaveDemo",ConcaveDemo::Create},
 	{"Concave Convexcast Demo",ConcaveConvexcastDemo::Create},
-	//	{"SoftBody Cloth",SoftDemo0::Create},
+	{"SoftBody Cloth",SoftDemo0::Create},
 
 	{"SoftBody Ropes Attach",SoftDemo4::Create},
 	{"SoftBody Cloth Attach",SoftDemo5::Create},
@@ -125,12 +126,12 @@ btDemoEntry g_demoEntries[] =
 	{"SoftBody Cluster Robot",SoftDemo25::Create},
 	//	{"SoftBody Ropes",SoftDemo3::Create},
 	{"SoftBody Sticks",SoftDemo6::Create},
-//	{"SoftBody Collide",SoftDemo7::Create},
+	{"SoftBody Collide",SoftDemo7::Create},
-//	{"SoftBody Collide2",SoftDemo8::Create},
+	{"SoftBody Collide2",SoftDemo8::Create},
 //	{"SoftBody Collide3",SoftDemo9::Create},
 //	{"SoftBody Impact",SoftDemo10::Create},
 	{"SoftBody Aero",SoftDemo11::Create},
-//	{"SoftBody Friction",SoftDemo12::Create},
+	{"SoftBody Friction",SoftDemo12::Create},
 //	{"SoftBody Torus",SoftDemo13::Create},
 //	{"SoftBody Torus Match",SoftDemo14::Create},
 //	{"SoftBody Bunny",SoftDemo15::Create},
@@ -140,24 +141,24 @@ btDemoEntry g_demoEntries[] =
 
 //	{"SoftBody Cluster Collide2",SoftDemo20::Create},
 //	{"SoftBody Cluster Socket",SoftDemo21::Create},
-//	{"SoftBody Cluster Hinge",SoftDemo22::Create},
+	{"SoftBody Cluster Hinge",SoftDemo22::Create},
-//	{"SoftBody Cluster Combine",SoftDemo23::Create},
+	{"SoftBody Cluster Combine",SoftDemo23::Create},
 //	{"SoftBody Cluster Stack Soft",SoftDemo26::Create},
 	{"SoftBody Cluster Stack Mixed",SoftDemo27::Create},
 	
 //	{"SliderConstraint",SliderConstraintDemo::Create},
-	{"CcdPhysicsDemo", CcdPhysicsDemo::Create},
+	
 //	{"ConcaveRaycastDemo",ConcaveRaycastDemo::Create},
 	//{"BspDemo", BspDemo::Create},
 //	{"Raytracer Test",Raytracer::Create},
 //	{"GjkConvexCast",LinearConvexCastDemo::Create},
-	{"Benchmark 3000 FALL",BenchmarkDemo1::Create},
+//	{"Benchmark 3000 FALL",BenchmarkDemo1::Create},
-	{"Benchmark 1000 STACK",BenchmarkDemo2::Create},
+//	{"Benchmark 1000 STACK",BenchmarkDemo2::Create},
-	{"Benchmark 136 RAGDOLLS",BenchmarkDemo3::Create},
+//	{"Benchmark 136 RAGDOLLS",BenchmarkDemo3::Create},
-	{"Benchmark 1000 CONVEX",BenchmarkDemo4::Create},
+//	{"Benchmark 1000 CONVEX",BenchmarkDemo4::Create},
-	{"Benchmark Mesh-Prim",BenchmarkDemo5::Create},
+//	{"Benchmark Mesh-Prim",BenchmarkDemo5::Create},
-	{"Benchmark Mesh-Convex",BenchmarkDemo6::Create},
+//	{"Benchmark Mesh-Convex",BenchmarkDemo6::Create},
-	{"Benchmark Raycast",BenchmarkDemo7::Create},
+//	{"Benchmark Raycast",BenchmarkDemo7::Create},
 
 	{"MemoryLeak Checker",btEmptyDebugDemo::Create},	
 	{0, 0}

Demos/AllBulletDemos/Jamfile

@@ -4,7 +4,6 @@ FrameWorkDemo AllBulletDemos :
 [ Wildcard *.h *.cpp  ] 
 	../CcdPhysicsDemo/CcdPhysicsDemo.cpp
         ../BasicDemo/BasicDemo.cpp
-	../Benchmarks/BenchmarkDemo.cpp
         ../BspDemo/BspDemo.cpp
         ../BspDemo/BspConverter.cpp
         ../BspDemo/BspLoader.cpp

Demos/AllBulletDemos/Makefile.am

@@ -2,7 +2,6 @@ noinst_PROGRAMS=AllBulletDemo
 
 AllBulletDemo_SOURCES=\
 		      	../SoftDemo/SoftDemo.cpp \
-			../Benchmarks/BenchmarkDemo.cpp \
 			../ConstraintDemo/ConstraintDemo.cpp \
 			../ForkLiftDemo/ForkLiftDemo.cpp \
 			../RagdollDemo/RagdollDemo.cpp \
@@ -30,6 +29,5 @@ AllBulletDemo_CXXFLAGS=\
 		       	-I@top_builddir@/Extras \
 			-I@top_builddir@/Demos/OpenGL \
 			-I@top_builddir@/Demos/SoftDemo \
-			-I@top_builddir@/Demos/Benchmarks \
 			$(CXXFLAGS)
 AllBulletDemo_LDADD=-L../OpenGL -lbulletopenglsupport -L../../src -L../../Extras -lgimpactutils -lconvexdecomposition -lbulletsoftbody -lbulletdynamics -lbulletcollision -lbulletmath -lglui @opengl_LIBS@

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;
+	BenchmarkDemo1 benchmarkDemo1;
-//	BenchmarkDemo2 benchmarkDemo;
+	BenchmarkDemo2 benchmarkDemo2;
-//	BenchmarkDemo3 benchmarkDemo;
+	BenchmarkDemo3 benchmarkDemo3;
-	BenchmarkDemo4 benchmarkDemo;
+	BenchmarkDemo4 benchmarkDemo4;
-//	BenchmarkDemo5 benchmarkDemo;
+	BenchmarkDemo5 benchmarkDemo5;
-//	BenchmarkDemo6 benchmarkDemo;
+	BenchmarkDemo6 benchmarkDemo6;
-//	BenchmarkDemo7 benchmarkDemo;
+	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);
-	
+#else
-	//default glut doesn't return from mainloop
+	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;
 }

Demos/ConstraintDemo/ConstraintDemo.cpp

@@ -345,6 +345,7 @@ void	ConstraintDemo::initPhysics()
 		btVector3 parentAxis(1.f, 0.f, 0.f); 
 		btVector3 childAxis(0.f, 0.f, 1.f); 
 		btVector3 anchor(20.f, 2.f, 0.f);
+
 		btUniversalConstraint* pUniv = new btUniversalConstraint(*pBodyA, *pBodyB, anchor, parentAxis, childAxis);
 		pUniv->setLowerLimit(-SIMD_HALF_PI * 0.5f, -SIMD_HALF_PI * 0.5f);
 		pUniv->setUpperLimit(SIMD_HALF_PI * 0.5f,  SIMD_HALF_PI * 0.5f);

Demos/ContinuousConvexCollision/ContinuousConvexCollision.h

@@ -18,13 +18,8 @@ subject to the following restrictions:
 
 
 ///ContinuousConvexCollisionDemo shows the working of the continuous collision detection, including linear and angular motion
-#ifdef _WINDOWS
-#include "Win32DemoApplication.h"
-class btContinuousConvexCollisionDemo : public Win32DemoApplication
-#else
 #include "GlutDemoApplication.h"
 class btContinuousConvexCollisionDemo : public GlutDemoApplication
-#endif
 {
 	public:
 

Demos/ContinuousConvexCollision/ContinuousConvexCollisionDemo.cpp

@@ -63,7 +63,7 @@ btTransform	toTrans[maxNumObjects];
 int screenWidth = 640;
 int screenHeight = 480;
 
-#ifndef _WINDOWS
+
 int main(int argc,char** argv)
 {
 	btContinuousConvexCollisionDemo* ccdDemo = new btContinuousConvexCollisionDemo();
@@ -74,16 +74,6 @@ int main(int argc,char** argv)
 	
 	return glutmain(argc, argv,screenWidth,screenHeight,"Continuous Convex Collision Demo",ccdDemo);
 }
-#else
-DemoApplication* createDemo()
-{
-	btContinuousConvexCollisionDemo* ccdDemo = new btContinuousConvexCollisionDemo();
-
-	ccdDemo->setCameraDistance(40.f);
-	return ccdDemo;
-
-}
-#endif //_WINDOWS
 
 
 void	btContinuousConvexCollisionDemo::initPhysics()

Demos/ConvexDecompositionDemo/main.cpp

@@ -5,7 +5,6 @@
 #include "GLDebugDrawer.h"
 #include "btBulletDynamicsCommon.h"
 
-#ifndef _WINDOWS
 
 GLDebugDrawer	gDebugDrawer;
 
@@ -31,10 +30,3 @@ int main(int argc,char** argv)
 
 	return 0;
 }
-#else
-DemoApplication*	createDemo()
-{
-	ConvexDecompositionDemo* convexDecompDemo = new ConvexDecompositionDemo();
-	return convexDecompDemo;
-}
-#endif _WINDOWS

Demos/OpenGL/GlutDemoApplication.cpp

@@ -1,5 +1,5 @@
 
-#ifndef _WINDOWS
+
 #include "GlutDemoApplication.h"
 
 #include "GlutStuff.h"
@@ -81,5 +81,5 @@ void GlutDemoApplication::swapBuffers()
 
 }
 
-#endif //_WINDOWS
+
 

Demos/OpenGL/GlutStuff.cpp

@@ -70,7 +70,7 @@ static void glutDisplayCallback(void)
 	gDemoApplication->displayCallback();
 }
 
-#ifndef _WINDOWS
+
 int glutmain(int argc, char **argv,int width,int height,const char* title,DemoApplication* demoApp) {
     
 	gDemoApplication = demoApp;
@@ -104,4 +104,4 @@ int glutmain(int argc, char **argv,int width,int height,const char* title,DemoAp
     return 0;
 }
 
-#endif //_WINDOWS
+

Demos/OpenGL/GlutStuff.h

@@ -34,26 +34,7 @@ subject to the following restrictions:
 #endif
 #endif
 
-#ifdef _WINDOWS
-#define BT_KEY_K 'K'
-#define BT_KEY_LEFT			VK_LEFT
-#define BT_KEY_RIGHT		VK_RIGHT
-#define BT_KEY_UP			VK_UP
-#define BT_KEY_DOWN			VK_DOWN
-#define	BT_KEY_F1			VK_F1
-#define	BT_KEY_F2			VK_F2
-#define	BT_KEY_F3			VK_F3
-#define	BT_KEY_F4			VK_F4
-#define	BT_KEY_F5			VK_F5
-#define BT_KEY_PAGEUP		VK_PRIOR
-#define BT_KEY_PAGEDOWN		VK_NEXT
-#define BT_KEY_END			VK_END
-#define BT_KEY_HOME			VK_HOME
-#define BT_ACTIVE_ALT		VK_LMENU
 
-
-
-#else
 #define BT_KEY_K 'k'
 #define BT_KEY_LEFT			GLUT_KEY_LEFT
 #define BT_KEY_RIGHT		GLUT_KEY_RIGHT
@@ -72,7 +53,6 @@ subject to the following restrictions:
 #define	BT_ACTIVE_CTRL		GLUT_ACTIVE_ALT
 #define BT_ACTIVE_SHIFT		GLUT_ACTIVE_SHIFT
 
-#endif
 
 
 #if BT_USE_FREEGLUT

src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp

@@ -215,9 +215,10 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
 #ifdef USE_SEPDISTANCE_UTIL2
 	if (dispatchInfo.m_useConvexConservativeDistanceUtil)
 	{
-		sepDist = gjkPairDetector.getCachedSeparatingDistance()+dispatchInfo.m_convexConservativeDistanceThreshold;
+		sepDist = gjkPairDetector.getCachedSeparatingDistance();
 		if (sepDist>SIMD_EPSILON)
 		{
+			sepDist += dispatchInfo.m_convexConservativeDistanceThreshold;
 			//now perturbe directions to get multiple contact points
 			sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis().normalized();
 			btPlaneSpace1(sepNormalWorldSpace,v0,v1);