Add setUserIndex/getUserIndex (int index) to btCollisionShape
Share physics setup of BasicDemo between different graphics frameworks, see Demos\BasicDemo\BasicDemoPhysicsSetup.* Plan is to do this for all Bullet demos. Improve gwen performance and cursor navigation for tree control. tweak shadowmap size SimpleOpenGL3App::registerCubeShape accepts half extents
This commit is contained in:
erwin coumans
@@ -40,7 +40,7 @@ subject to the following restrictions:
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static GLDebugDrawer gDebugDraw;
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///The MyOverlapCallback is used to show how to collect object that overlap with a given bounding box defined by aabbMin and aabbMax.
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///See m_dynamicsWorld->getBroadphase()->aabbTest.
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///See m_physicsSetup.m_dynamicsWorld->getBroadphase()->aabbTest.
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struct MyOverlapCallback : public btBroadphaseAabbCallback
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{
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btVector3 m_queryAabbMin;
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@@ -68,23 +68,27 @@ void BasicDemo::clientMoveAndDisplay()
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//simple dynamics world doesn't handle fixed-time-stepping
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float ms = getDeltaTimeMicroseconds();
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m_physicsSetup.stepSimulation(ms/1000000.f);
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m_physicsSetup.m_dynamicsWorld->debugDrawWorld();
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/*
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///step the simulation
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if (m_dynamicsWorld)
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if (m_physicsSetup.m_dynamicsWorld)
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{
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m_dynamicsWorld->stepSimulation(ms / 1000000.f);
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m_physicsSetup.m_dynamicsWorld->stepSimulation(ms / 1000000.f);
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//optional but useful: debug drawing
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m_dynamicsWorld->debugDrawWorld();
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m_physicsSetup.m_dynamicsWorld->debugDrawWorld();
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btVector3 aabbMin(1,1,1);
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btVector3 aabbMax(2,2,2);
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MyOverlapCallback aabbOverlap(aabbMin,aabbMax);
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m_dynamicsWorld->getBroadphase()->aabbTest(aabbMin,aabbMax,aabbOverlap);
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m_physicsSetup.m_dynamicsWorld->getBroadphase()->aabbTest(aabbMin,aabbMax,aabbOverlap);
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//if (aabbOverlap.m_numOverlap)
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// printf("#aabb overlap = %d\n", aabbOverlap.m_numOverlap);
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}
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*/
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renderme();
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glFlush();
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@@ -102,8 +106,8 @@ void BasicDemo::displayCallback(void) {
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renderme();
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//optional but useful: debug drawing to detect problems
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if (m_dynamicsWorld)
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m_dynamicsWorld->debugDrawWorld();
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if (m_physicsSetup.m_dynamicsWorld)
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m_physicsSetup.m_dynamicsWorld->debugDrawWorld();
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glFlush();
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swapBuffers();
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@@ -120,105 +124,10 @@ void BasicDemo::initPhysics()
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setCameraDistance(btScalar(SCALING*50.));
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///collision configuration contains default setup for memory, collision setup
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m_collisionConfiguration = new btDefaultCollisionConfiguration();
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//m_collisionConfiguration->setConvexConvexMultipointIterations();
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m_physicsSetup.initPhysics();
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///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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m_broadphase = new btDbvtBroadphase();
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///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
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btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
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m_solver = sol;
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m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
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m_dynamicsWorld = m_physicsSetup.m_dynamicsWorld;
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m_dynamicsWorld->setDebugDrawer(&gDebugDraw);
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m_dynamicsWorld->setGravity(btVector3(0,-10,0));
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///create a few basic rigid bodies
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btBoxShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
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//groundShape->initializePolyhedralFeatures();
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// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
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m_collisionShapes.push_back(groundShape);
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btTransform groundTransform;
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groundTransform.setIdentity();
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groundTransform.setOrigin(btVector3(0,-50,0));
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//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
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{
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btScalar mass(0.);
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//rigidbody is dynamic if and only if mass is non zero, otherwise static
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bool isDynamic = (mass != 0.f);
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btVector3 localInertia(0,0,0);
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if (isDynamic)
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groundShape->calculateLocalInertia(mass,localInertia);
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//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
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btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
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btRigidBody* body = new btRigidBody(rbInfo);
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//add the body to the dynamics world
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m_dynamicsWorld->addRigidBody(body);
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}
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{
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//create a few dynamic rigidbodies
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// Re-using the same collision is better for memory usage and performance
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btBoxShape* colShape = new btBoxShape(btVector3(SCALING*1,SCALING*1,SCALING*1));
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//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
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m_collisionShapes.push_back(colShape);
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/// Create Dynamic Objects
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btTransform startTransform;
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startTransform.setIdentity();
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btScalar mass(1.f);
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//rigidbody is dynamic if and only if mass is non zero, otherwise static
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bool isDynamic = (mass != 0.f);
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btVector3 localInertia(0,0,0);
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if (isDynamic)
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colShape->calculateLocalInertia(mass,localInertia);
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float start_x = START_POS_X - ARRAY_SIZE_X/2;
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float start_y = START_POS_Y;
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float start_z = START_POS_Z - ARRAY_SIZE_Z/2;
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for (int k=0;k<ARRAY_SIZE_Y;k++)
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{
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for (int i=0;i<ARRAY_SIZE_X;i++)
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{
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for(int j = 0;j<ARRAY_SIZE_Z;j++)
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{
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startTransform.setOrigin(SCALING*btVector3(
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btScalar(2.0*i + start_x),
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btScalar(20+2.0*k + start_y),
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btScalar(2.0*j + start_z)));
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//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
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btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
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btRigidBody* body = new btRigidBody(rbInfo);
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m_dynamicsWorld->addRigidBody(body);
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}
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}
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}
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}
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}
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void BasicDemo::clientResetScene()
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@@ -230,42 +139,7 @@ void BasicDemo::clientResetScene()
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void BasicDemo::exitPhysics()
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{
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//cleanup in the reverse order of creation/initialization
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//remove the rigidbodies from the dynamics world and delete them
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int i;
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for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
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{
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btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
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btRigidBody* body = btRigidBody::upcast(obj);
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if (body && body->getMotionState())
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{
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delete body->getMotionState();
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}
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m_dynamicsWorld->removeCollisionObject( obj );
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delete obj;
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}
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//delete collision shapes
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for (int j=0;j<m_collisionShapes.size();j++)
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{
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btCollisionShape* shape = m_collisionShapes[j];
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delete shape;
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}
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m_collisionShapes.clear();
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delete m_dynamicsWorld;
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delete m_solver;
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delete m_broadphase;
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delete m_dispatcher;
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delete m_collisionConfiguration;
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m_physicsSetup.exitPhysics();
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}
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@@ -24,30 +24,15 @@ subject to the following restrictions:
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#endif
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#include "LinearMath/btAlignedObjectArray.h"
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#include "BasicDemoPhysicsSetup.h"
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class btBroadphaseInterface;
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class btCollisionShape;
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class btOverlappingPairCache;
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class btCollisionDispatcher;
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class btConstraintSolver;
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struct btCollisionAlgorithmCreateFunc;
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class btDefaultCollisionConfiguration;
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///BasicDemo is good starting point for learning the code base and porting.
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class BasicDemo : public PlatformDemoApplication
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{
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//keep the collision shapes, for deletion/cleanup
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btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
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btBroadphaseInterface* m_broadphase;
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btCollisionDispatcher* m_dispatcher;
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btConstraintSolver* m_solver;
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btDefaultCollisionConfiguration* m_collisionConfiguration;
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BasicDemoPhysicsSetup m_physicsSetup;
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public:
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171
Demos/BasicDemo/BasicDemoPhysicsSetup.cpp
Normal file
171
Demos/BasicDemo/BasicDemoPhysicsSetup.cpp
Normal file
@@ -0,0 +1,171 @@
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#include "BasicDemoPhysicsSetup.h"
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#include "btBulletDynamicsCommon.h"
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#define ARRAY_SIZE_Y 5
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#define ARRAY_SIZE_X 5
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#define ARRAY_SIZE_Z 5
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void BasicDemoPhysicsSetup::initPhysics()
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{
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///collision configuration contains default setup for memory, collision setup
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m_collisionConfiguration = new btDefaultCollisionConfiguration();
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//m_collisionConfiguration->setConvexConvexMultipointIterations();
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///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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m_broadphase = new btDbvtBroadphase();
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///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
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btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
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m_solver = sol;
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m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
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m_dynamicsWorld->setGravity(btVector3(0,-10,0));
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///create a few basic rigid bodies
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btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
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//groundShape->initializePolyhedralFeatures();
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// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
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m_collisionShapes.push_back(groundShape);
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btTransform groundTransform;
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groundTransform.setIdentity();
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groundTransform.setOrigin(btVector3(0,-50,0));
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{
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btScalar mass(0.);
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createRigidBody(mass,groundTransform,groundShape);
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}
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{
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//create a few dynamic rigidbodies
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// Re-using the same collision is better for memory usage and performance
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btBoxShape* colShape = createBoxShape(btVector3(1,1,1));
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//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
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m_collisionShapes.push_back(colShape);
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/// Create Dynamic Objects
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btTransform startTransform;
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startTransform.setIdentity();
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btScalar mass(1.f);
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//rigidbody is dynamic if and only if mass is non zero, otherwise static
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bool isDynamic = (mass != 0.f);
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btVector3 localInertia(0,0,0);
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if (isDynamic)
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colShape->calculateLocalInertia(mass,localInertia);
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for (int k=0;k<ARRAY_SIZE_Y;k++)
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{
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for (int i=0;i<ARRAY_SIZE_X;i++)
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{
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for(int j = 0;j<ARRAY_SIZE_Z;j++)
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{
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startTransform.setOrigin(btVector3(
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btScalar(2.0*i),
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btScalar(20+2.0*k),
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btScalar(2.0*j)));
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createRigidBody(mass,startTransform,colShape);
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}
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}
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}
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}
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}
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void BasicDemoPhysicsSetup::stepSimulation(float deltaTime)
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{
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m_dynamicsWorld->stepSimulation(deltaTime);
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}
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btBoxShape* BasicDemoPhysicsSetup::createBoxShape(const btVector3& halfExtents)
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{
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btBoxShape* box = new btBoxShape(halfExtents);
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return box;
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}
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btRigidBody* BasicDemoPhysicsSetup::createRigidBody(float mass, const btTransform& startTransform,btCollisionShape* shape)
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{
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btAssert((!shape || shape->getShapeType() != INVALID_SHAPE_PROXYTYPE));
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//rigidbody is dynamic if and only if mass is non zero, otherwise static
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bool isDynamic = (mass != 0.f);
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btVector3 localInertia(0,0,0);
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if (isDynamic)
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shape->calculateLocalInertia(mass,localInertia);
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//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
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#define USE_MOTIONSTATE 1
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#ifdef USE_MOTIONSTATE
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btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
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btRigidBody::btRigidBodyConstructionInfo cInfo(mass,myMotionState,shape,localInertia);
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btRigidBody* body = new btRigidBody(cInfo);
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//body->setContactProcessingThreshold(m_defaultContactProcessingThreshold);
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#else
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btRigidBody* body = new btRigidBody(mass,0,shape,localInertia);
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body->setWorldTransform(startTransform);
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#endif//
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body->setUserIndex(-1);
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m_dynamicsWorld->addRigidBody(body);
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return body;
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}
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void BasicDemoPhysicsSetup::exitPhysics()
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{
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//cleanup in the reverse order of creation/initialization
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//remove the rigidbodies from the dynamics world and delete them
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int i;
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for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
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{
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btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
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btRigidBody* body = btRigidBody::upcast(obj);
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if (body && body->getMotionState())
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{
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delete body->getMotionState();
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}
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m_dynamicsWorld->removeCollisionObject( obj );
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delete obj;
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}
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//delete collision shapes
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for (int j=0;j<m_collisionShapes.size();j++)
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{
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btCollisionShape* shape = m_collisionShapes[j];
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delete shape;
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}
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m_collisionShapes.clear();
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delete m_dynamicsWorld;
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delete m_solver;
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delete m_broadphase;
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delete m_dispatcher;
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delete m_collisionConfiguration;
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}
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94
Demos/BasicDemo/BasicDemoPhysicsSetup.h
Normal file
94
Demos/BasicDemo/BasicDemoPhysicsSetup.h
Normal file
@@ -0,0 +1,94 @@
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#ifndef BASIC_DEMO_PHYSICS_SETUP_H
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#define BASIC_DEMO_PHYSICS_SETUP_H
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class btRigidBody;
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class btCollisionShape;
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class btBroadphaseInterface;
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class btConstraintSolver;
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class btCollisionDispatcher;
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class btDefaultCollisionConfiguration;
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class btDiscreteDynamicsWorld;
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class btTransform;
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class btVector3;
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class btBoxShape;
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#include "LinearMath/btAlignedObjectArray.h"
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struct BasicDemoPhysicsSetup
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{
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//keep the collision shapes, for deletion/cleanup
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btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
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btBroadphaseInterface* m_broadphase;
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btCollisionDispatcher* m_dispatcher;
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btConstraintSolver* m_solver;
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btDefaultCollisionConfiguration* m_collisionConfiguration;
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btDiscreteDynamicsWorld* m_dynamicsWorld;
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virtual void initPhysics();
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virtual void exitPhysics();
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virtual void stepSimulation(float deltaTime);
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virtual btRigidBody* createRigidBody(float mass, const btTransform& startTransform,btCollisionShape* shape);
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virtual btBoxShape* createBoxShape(const btVector3& halfExtents);
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/*
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//bodies
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virtual btRigidBody* createRigidBody(bool isDynamic, btScalar mass, const btTransform& startTransform, btCollisionShape* shape,const char* bodyName);
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virtual btCollisionObject* createCollisionObject( const btTransform& startTransform, btCollisionShape* shape,const char* bodyName);
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///shapes
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virtual btCollisionShape* createPlaneShape(const btVector3& planeNormal,btScalar planeConstant);
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virtual btCollisionShape* createSphereShape(btScalar radius);
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virtual btCollisionShape* createCapsuleShapeX(btScalar radius, btScalar height);
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virtual btCollisionShape* createCapsuleShapeY(btScalar radius, btScalar height);
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virtual btCollisionShape* createCapsuleShapeZ(btScalar radius, btScalar height);
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virtual btCollisionShape* createCylinderShapeX(btScalar radius,btScalar height);
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virtual btCollisionShape* createCylinderShapeY(btScalar radius,btScalar height);
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virtual btCollisionShape* createCylinderShapeZ(btScalar radius,btScalar height);
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virtual btCollisionShape* createConeShapeX(btScalar radius,btScalar height);
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virtual btCollisionShape* createConeShapeY(btScalar radius,btScalar height);
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virtual btCollisionShape* createConeShapeZ(btScalar radius,btScalar height);
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virtual class btTriangleIndexVertexArray* createTriangleMeshContainer();
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virtual btBvhTriangleMeshShape* createBvhTriangleMeshShape(btStridingMeshInterface* trimesh, btOptimizedBvh* bvh);
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virtual btCollisionShape* createConvexTriangleMeshShape(btStridingMeshInterface* trimesh);
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virtual btGImpactMeshShape* createGimpactShape(btStridingMeshInterface* trimesh);
|
||||
virtual btStridingMeshInterfaceData* createStridingMeshInterfaceData(btStridingMeshInterfaceData* interfaceData);
|
||||
|
||||
virtual class btConvexHullShape* createConvexHullShape();
|
||||
virtual class btCompoundShape* createCompoundShape();
|
||||
virtual class btScaledBvhTriangleMeshShape* createScaledTrangleMeshShape(btBvhTriangleMeshShape* meshShape,const btVector3& localScalingbtBvhTriangleMeshShape);
|
||||
|
||||
virtual class btMultiSphereShape* createMultiSphereShape(const btVector3* positions,const btScalar* radi,int numSpheres);
|
||||
|
||||
virtual btTriangleIndexVertexArray* createMeshInterface(btStridingMeshInterfaceData& meshData);
|
||||
|
||||
///acceleration and connectivity structures
|
||||
virtual btOptimizedBvh* createOptimizedBvh();
|
||||
virtual btTriangleInfoMap* createTriangleInfoMap();
|
||||
|
||||
///constraints
|
||||
virtual btPoint2PointConstraint* createPoint2PointConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB);
|
||||
virtual btPoint2PointConstraint* createPoint2PointConstraint(btRigidBody& rbA,const btVector3& pivotInA);
|
||||
virtual btHingeConstraint* createHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA=false);
|
||||
virtual btHingeConstraint* createHingeConstraint(btRigidBody& rbA,const btTransform& rbAFrame, bool useReferenceFrameA=false);
|
||||
virtual btConeTwistConstraint* createConeTwistConstraint(btRigidBody& rbA,btRigidBody& rbB,const btTransform& rbAFrame, const btTransform& rbBFrame);
|
||||
virtual btConeTwistConstraint* createConeTwistConstraint(btRigidBody& rbA,const btTransform& rbAFrame);
|
||||
virtual btGeneric6DofConstraint* createGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
|
||||
virtual btGeneric6DofConstraint* createGeneric6DofConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB);
|
||||
virtual btGeneric6DofSpringConstraint* createGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
|
||||
virtual btSliderConstraint* createSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
|
||||
virtual btSliderConstraint* createSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameA);
|
||||
virtual btGearConstraint* createGearConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& axisInA,const btVector3& axisInB, btScalar ratio);
|
||||
*/
|
||||
|
||||
};
|
||||
|
||||
#endif //BASIC_DEMO_PHYSICS_SETUP_H
|
||||
@@ -28,6 +28,8 @@ ADD_EXECUTABLE(AppBasicDemo
|
||||
main.cpp
|
||||
BasicDemo.cpp
|
||||
BasicDemo.h
|
||||
BasicDemoPhysicsSetup.cpp
|
||||
BasicDemoPhysicsSetup.h
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
|
||||
)
|
||||
ELSE()
|
||||
@@ -35,6 +37,8 @@ ELSE()
|
||||
main.cpp
|
||||
BasicDemo.cpp
|
||||
BasicDemo.h
|
||||
BasicDemoPhysicsSetup.cpp
|
||||
BasicDemoPhysicsSetup.h
|
||||
)
|
||||
ENDIF()
|
||||
ELSE (USE_GLUT)
|
||||
@@ -52,6 +56,8 @@ ELSE (USE_GLUT)
|
||||
Win32BasicDemo.cpp
|
||||
BasicDemo.cpp
|
||||
BasicDemo.h
|
||||
BasicDemoPhysicsSetup.cpp
|
||||
BasicDemoPhysicsSetup.h
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
|
||||
)
|
||||
|
||||
|
||||
Reference in New Issue
Block a user