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fix MSVC 2013 compilation (std::min needs #include <algorithm>

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add example use of GJK+MPR in VoronoiFractureDemo
This commit is contained in:
erwin coumans
2014-11-05 08:58:24 -08:00
parent ba0dd676aa
commit eafbf817c3
7 changed files with 429 additions and 7 deletions
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47
Demos/VoronoiFractureDemo/VoronoiFractureDemo.cpp
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@@ -25,20 +25,23 @@ Voronoi fracture and shatter code and demo copyright (c) 2011 Alain Ducharme
//maximum number of objects (and allow user to shoot additional boxes)
#define MAX_PROXIES (2048)
#define BREAKING_THRESHOLD 2
#define BREAKING_THRESHOLD 3
#define CONVEX_MARGIN 0.04
static int useMpr = 0;
#include "VoronoiFractureDemo.h"
#include "GlutStuff.h"
///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
#include "btBulletDynamicsCommon.h"
#include "GLDebugFont.h"
#include <stdio.h> //printf debugging
#include "GLDebugDrawer.h"
static GLDebugDrawer sDebugDraw;
static bool useGenericConstraint = false;
#include "btConvexConvexMprAlgorithm.h"
void VoronoiFractureDemo::attachFixedConstraints()
{
@@ -493,13 +496,13 @@ void VoronoiFractureDemo::clientMoveAndDisplay()
///step the simulation
if (m_dynamicsWorld)
{
m_dynamicsWorld->stepSimulation(ms / 1000000.f);
m_dynamicsWorld->stepSimulation(1. / 60., 0);// ms / 1000000.f);
//optional but useful: debug drawing
m_dynamicsWorld->debugDrawWorld();
}
renderme();
glFlush();
swapBuffers();
@@ -520,9 +523,30 @@ void VoronoiFractureDemo::displayCallback(void) {
swapBuffers();
}
void VoronoiFractureDemo::renderme()
{
DemoApplication::renderme();
char buf[124];
int lineWidth = 200;
int xStart = m_glutScreenWidth - lineWidth;
if (useMpr)
{
sprintf(buf, "Using GJK+MPR");
}
else
{
sprintf(buf, "Using GJK+EPA");
}
GLDebugDrawString(xStart, 20, buf);
}
void VoronoiFractureDemo::initPhysics()
{
srand(13);
useGenericConstraint = !useGenericConstraint;
printf("useGenericConstraint = %d\n", useGenericConstraint);
@@ -538,7 +562,22 @@ void VoronoiFractureDemo::initPhysics()
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
useMpr = 1 - useMpr;
if (useMpr)
{
printf("using GJK+MPR convex-convex collision detection\n");
btConvexConvexMprAlgorithm::CreateFunc* cf = new btConvexConvexMprAlgorithm::CreateFunc;
m_dispatcher->registerCollisionCreateFunc(CONVEX_HULL_SHAPE_PROXYTYPE, CONVEX_HULL_SHAPE_PROXYTYPE, cf);
m_dispatcher->registerCollisionCreateFunc(CONVEX_HULL_SHAPE_PROXYTYPE, BOX_SHAPE_PROXYTYPE, cf);
m_dispatcher->registerCollisionCreateFunc(BOX_SHAPE_PROXYTYPE, CONVEX_HULL_SHAPE_PROXYTYPE, cf);
}
else
{
printf("using default (GJK+EPA) convex-convex collision detection\n");
}
m_broadphase = new btDbvtBroadphase();
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)