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merged most of the changes from the branch into trunk, except for COLLADA, libxml and glut glitches.

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Still need to verify to make sure no unwanted renaming is introduced.
This commit is contained in:
ejcoumans
2006-09-27 20:43:51 +00:00
parent d1e9a885f3
commit eb23bb5c0c
263 changed files with 7528 additions and 6714 deletions
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126
Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
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@@ -13,28 +13,17 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
//#define USER_DEFINED_FRICTION_MODEL 1
//#define PRINT_CONTACT_STATISTICS 1
#define REGISTER_CUSTOM_COLLISION_ALGORITHM 1
#include "CcdPhysicsEnvironment.h"
#include "ParallelPhysicsEnvironment.h"
#include "btBulletDynamicsCommon.h"
#include "CcdPhysicsController.h"
#include "MyMotionState.h"
#include "ParallelIslandDispatcher.h"
#include "LinearMath/GenQuickprof.h"
#include "LinearMath/GenIDebugDraw.h"
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btIDebugDraw.h"
#include "GLDebugDrawer.h"
#include "PHY_Pro.h"
#include "BMF_Api.h"
#include <stdio.h> //printf debugging
@@ -68,40 +57,35 @@ const int maxNumObjects = 32760;
int shapeIndex[maxNumObjects];
#ifdef USE_PARALLEL_DISPATCHER
ParallelPhysicsEnvironment* m_physicsEnvironmentPtr = 0;
#else
CcdPhysicsEnvironment* m_physicsEnvironmentPtr = 0;
#endif
#define CUBE_HALF_EXTENTS 1
#define EXTRA_HEIGHT -20.f
//GL_LineSegmentShape shapeE(SimdPoint3(-50,0,0),
// SimdPoint3(50,0,0));
//GL_LineSegmentShape shapeE(btPoint3(-50,0,0),
// btPoint3(50,0,0));
static const int numShapes = 4;
CollisionShape* shapePtr[numShapes] =
btCollisionShape* shapePtr[numShapes] =
{
///Please don't make the box sizes larger then 1000: the collision detection will be inaccurate.
///See http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=346
//#define USE_GROUND_PLANE 1
#ifdef USE_GROUND_PLANE
new StaticPlaneShape(SimdVector3(0,1,0),10),
new btStaticPlaneShape(btVector3(0,1,0),10),
#else
new BoxShape (SimdVector3(50,10,50)),
new btBoxShape (btVector3(50,10,50)),
#endif
new BoxShape (SimdVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)),
new SphereShape (CUBE_HALF_EXTENTS- 0.05f),
new btBoxShape (btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)),
new btSphereShape (CUBE_HALF_EXTENTS- 0.05f),
//new ConeShape(CUBE_HALF_EXTENTS,2.f*CUBE_HALF_EXTENTS),
//new BU_Simplex1to4(SimdPoint3(-1,-1,-1),SimdPoint3(1,-1,-1),SimdPoint3(-1,1,-1),SimdPoint3(0,0,1)),
//new btConeShape(CUBE_HALF_EXTENTS,2.f*CUBE_HALF_EXTENTS),
//new btBU_Simplex1to4(btPoint3(-1,-1,-1),btPoint3(1,-1,-1),btPoint3(-1,1,-1),btPoint3(0,0,1)),
//new EmptyShape(),
//new btEmptyShape(),
new BoxShape (SimdVector3(0.4,1,0.8))
new btBoxShape (btVector3(0.4,1,0.8))
};
@@ -138,19 +122,17 @@ void CcdPhysicsDemo::clientMoveAndDisplay()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
if (m_physicsEnvironmentPtr)
m_physicsEnvironmentPtr->proceedDeltaTime(0.f,deltaTime);
if (m_dynamicsWorld)
m_dynamicsWorld->stepSimulation(deltaTime);
#ifdef USE_QUICKPROF
Profiler::beginBlock("render");
btProfiler::beginBlock("render");
#endif //USE_QUICKPROF
renderme();
#ifdef USE_QUICKPROF
Profiler::endBlock("render");
btProfiler::endBlock("render");
#endif
glFlush();
//some additional debugging info
@@ -171,12 +153,15 @@ void CcdPhysicsDemo::displayCallback(void) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
/*
if (m_physicsEnvironmentPtr)
{
m_physicsEnvironmentPtr->UpdateAabbs(deltaTime);
//draw contactpoints
m_physicsEnvironmentPtr->CallbackTriggers();
}
*/
renderme();
@@ -192,7 +177,7 @@ void CcdPhysicsDemo::displayCallback(void) {
void CcdPhysicsDemo::clientResetScene()
{
/*
int i;
int numObjects = m_physicsEnvironmentPtr->GetNumControllers();
@@ -203,7 +188,7 @@ void CcdPhysicsDemo::clientResetScene()
{
CcdPhysicsController* ctrl = m_physicsEnvironmentPtr->GetPhysicsController(i);
if ((getDebugMode() & IDebugDraw::DBG_NoHelpText))
if ((getDebugMode() & btIDebugDraw::DBG_NoHelpText))
{
if (ctrl->GetRigidBody()->GetCollisionShape()->GetShapeType() != SPHERE_SHAPE_PROXYTYPE)
{
@@ -213,7 +198,7 @@ void CcdPhysicsDemo::clientResetScene()
ctrl->GetRigidBody()->SetCollisionShape(shapePtr[1]);
}
BroadphaseProxy* bpproxy = ctrl->GetRigidBody()->m_broadphaseHandle;
btBroadphaseProxy* bpproxy = ctrl->GetRigidBody()->m_broadphaseHandle;
m_physicsEnvironmentPtr->GetBroadphase()->CleanProxyFromPairs(bpproxy);
}
@@ -236,11 +221,13 @@ void CcdPhysicsDemo::clientResetScene()
ctrl->SetAngularVelocity(0,0,0,false);
}
}
*/
}
///User-defined friction model, the most simple friction model available: no friction
float myFrictionModel( RigidBody& body1, RigidBody& body2, ManifoldPoint& contactPoint, const ContactSolverInfo& solverInfo )
float myFrictionModel( btRigidBody& body1, btRigidBody& body2, btManifoldPoint& contactPoint, const btContactSolverInfo& solverInfo )
{
//don't do any friction
return 0.f;
@@ -249,32 +236,25 @@ float myFrictionModel( RigidBody& body1, RigidBody& body2, ManifoldPoint& contac
void CcdPhysicsDemo::initPhysics()
{
CollisionDispatcher* dispatcher = new CollisionDispatcher();
btCollisionDispatcher* dispatcher = new btCollisionDispatcher();
SimdVector3 worldAabbMin(-10000,-10000,-10000);
SimdVector3 worldAabbMax(10000,10000,10000);
btVector3 worldAabbMin(-10000,-10000,-10000);
btVector3 worldAabbMax(10000,10000,10000);
OverlappingPairCache* broadphase = new AxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
// OverlappingPairCache* broadphase = new SimpleBroadphase;
btOverlappingPairCache* broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
// btOverlappingPairCache* broadphase = new btSimpleBroadphase;
#ifdef REGISTER_CUSTOM_COLLISION_ALGORITHM
dispatcher->RegisterCollisionCreateFunc(SPHERE_SHAPE_PROXYTYPE,SPHERE_SHAPE_PROXYTYPE,new SphereSphereCollisionAlgorithm::CreateFunc);
dispatcher->RegisterCollisionCreateFunc(SPHERE_SHAPE_PROXYTYPE,SPHERE_SHAPE_PROXYTYPE,new btSphereSphereCollisionAlgorithm::CreateFunc);
#endif //REGISTER_CUSTOM_COLLISION_ALGORITHM
btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver;
#ifdef USE_PARALLEL_DISPATCHER
m_physicsEnvironmentPtr = new ParallelPhysicsEnvironment(dispatcher2,broadphase);
#else
m_physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase);
#endif
m_physicsEnvironmentPtr->setDeactivationTime(2.f);
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,broadphase,solver);
m_physicsEnvironmentPtr->setGravity(0,-10,0);
m_physicsEnvironmentPtr->setDebugDrawer(&debugDrawer);
#ifdef USER_DEFINED_FRICTION_MODEL
SequentialImpulseConstraintSolver* solver = (SequentialImpulseConstraintSolver*) m_physicsEnvironmentPtr->GetConstraintSolver();
btSequentialImpulseConstraintSolver* solver = (btSequentialImpulseConstraintSolver*) m_physicsEnvironmentPtr->GetConstraintSolver();
//solver->SetContactSolverFunc(ContactSolverFunc func,USER_CONTACT_SOLVER_TYPE1,DEFAULT_CONTACT_SOLVER_TYPE);
solver->SetFrictionSolverFunc(myFrictionModel,USER_CONTACT_SOLVER_TYPE1,DEFAULT_CONTACT_SOLVER_TYPE);
solver->SetFrictionSolverFunc(myFrictionModel,DEFAULT_CONTACT_SOLVER_TYPE,USER_CONTACT_SOLVER_TYPE1);
@@ -285,7 +265,7 @@ void CcdPhysicsDemo::initPhysics()
int i;
SimdTransform tr;
btTransform tr;
tr.setIdentity();
@@ -301,26 +281,26 @@ void CcdPhysicsDemo::initPhysics()
if (useCompound)
{
CompoundShape* compoundShape = new CompoundShape();
CollisionShape* oldShape = shapePtr[1];
btCompoundShape* compoundShape = new btCompoundShape();
btCollisionShape* oldShape = shapePtr[1];
shapePtr[1] = compoundShape;
SimdTransform ident;
btTransform ident;
ident.setIdentity();
ident.setOrigin(SimdVector3(0,0,0));
ident.setOrigin(btVector3(0,0,0));
compoundShape->AddChildShape(ident,oldShape);//
ident.setOrigin(SimdVector3(0,0,2));
compoundShape->AddChildShape(ident,new SphereShape(0.9));//
ident.setOrigin(btVector3(0,0,2));
compoundShape->AddChildShape(ident,new btSphereShape(0.9));//
}
for (i=0;i<gNumObjects;i++)
{
CollisionShape* shape = shapePtr[shapeIndex[i]];
btCollisionShape* shape = shapePtr[shapeIndex[i]];
shape->SetMargin(0.05f);
bool isDyna = i>0;
SimdTransform trans;
btTransform trans;
trans.setIdentity();
if (i>0)
@@ -338,13 +318,13 @@ void CcdPhysicsDemo::initPhysics()
row2 |=1;
}
SimdVector3 pos(col*2*CUBE_HALF_EXTENTS + (row2%2)*CUBE_HALF_EXTENTS,
btVector3 pos(col*2*CUBE_HALF_EXTENTS + (row2%2)*CUBE_HALF_EXTENTS,
row*2*CUBE_HALF_EXTENTS+CUBE_HALF_EXTENTS+EXTRA_HEIGHT,0);
trans.setOrigin(pos);
} else
{
trans.setOrigin(SimdVector3(0,-30,0));
trans.setOrigin(btVector3(0,-30,0));
}
float mass = 1.f;
@@ -352,13 +332,16 @@ void CcdPhysicsDemo::initPhysics()
if (!isDyna)
mass = 0.f;
CcdPhysicsController* ctrl = LocalCreatePhysicsObject(isDyna,mass,trans,shape);
btRigidBody* body = LocalCreateRigidBody(isDyna,mass,trans,shape);
m_dynamicsWorld->AddCollisionObject(body);
// Only do CCD if motion in one timestep (1.f/60.f) exceeds CUBE_HALF_EXTENTS
ctrl->GetRigidBody()->m_ccdSquareMotionTreshold = CUBE_HALF_EXTENTS;
body->m_ccdSquareMotionTreshold = CUBE_HALF_EXTENTS;
//Experimental: better estimation of CCD Time of Impact:
ctrl->GetRigidBody()->m_ccdSweptShereRadius = 0.2*CUBE_HALF_EXTENTS;
body->m_ccdSweptShereRadius = 0.2*CUBE_HALF_EXTENTS;
#ifdef USER_DEFINED_FRICTION_MODEL
///Advanced use: override the friction solver
ctrl->GetRigidBody()->m_frictionSolverType = USER_CONTACT_SOLVER_TYPE1;
@@ -369,7 +352,6 @@ void CcdPhysicsDemo::initPhysics()
clientResetScene();
m_physicsEnvironmentPtr->SyncMotionStates(0.f);
}