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Add setUserIndex/getUserIndex (int index) to btCollisionShape

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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
2014-05-20 12:02:01 -07:00
parent f213b00022
commit eb74688c18
23 changed files with 657 additions and 303 deletions
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156
Demos/BasicDemo/BasicDemo.cpp
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@@ -40,7 +40,7 @@ subject to the following restrictions:
static GLDebugDrawer gDebugDraw;
///The MyOverlapCallback is used to show how to collect object that overlap with a given bounding box defined by aabbMin and aabbMax.
///See m_dynamicsWorld->getBroadphase()->aabbTest.
///See m_physicsSetup.m_dynamicsWorld->getBroadphase()->aabbTest.
struct MyOverlapCallback : public btBroadphaseAabbCallback
{
btVector3 m_queryAabbMin;
@@ -68,23 +68,27 @@ void BasicDemo::clientMoveAndDisplay()
//simple dynamics world doesn't handle fixed-time-stepping
float ms = getDeltaTimeMicroseconds();
m_physicsSetup.stepSimulation(ms/1000000.f);
m_physicsSetup.m_dynamicsWorld->debugDrawWorld();
/*
///step the simulation
if (m_dynamicsWorld)
if (m_physicsSetup.m_dynamicsWorld)
{
m_dynamicsWorld->stepSimulation(ms / 1000000.f);
m_physicsSetup.m_dynamicsWorld->stepSimulation(ms / 1000000.f);
//optional but useful: debug drawing
m_dynamicsWorld->debugDrawWorld();
m_physicsSetup.m_dynamicsWorld->debugDrawWorld();
btVector3 aabbMin(1,1,1);
btVector3 aabbMax(2,2,2);
MyOverlapCallback aabbOverlap(aabbMin,aabbMax);
m_dynamicsWorld->getBroadphase()->aabbTest(aabbMin,aabbMax,aabbOverlap);
m_physicsSetup.m_dynamicsWorld->getBroadphase()->aabbTest(aabbMin,aabbMax,aabbOverlap);
//if (aabbOverlap.m_numOverlap)
// printf("#aabb overlap = %d\n", aabbOverlap.m_numOverlap);
}
*/
renderme();
glFlush();
@@ -102,8 +106,8 @@ void BasicDemo::displayCallback(void) {
renderme();
//optional but useful: debug drawing to detect problems
if (m_dynamicsWorld)
m_dynamicsWorld->debugDrawWorld();
if (m_physicsSetup.m_dynamicsWorld)
m_physicsSetup.m_dynamicsWorld->debugDrawWorld();
glFlush();
swapBuffers();
@@ -120,105 +124,10 @@ void BasicDemo::initPhysics()
setCameraDistance(btScalar(SCALING*50.));
///collision configuration contains default setup for memory, collision setup
m_collisionConfiguration = new btDefaultCollisionConfiguration();
//m_collisionConfiguration->setConvexConvexMultipointIterations();
m_physicsSetup.initPhysics();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
m_broadphase = new btDbvtBroadphase();
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
m_solver = sol;
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
m_dynamicsWorld = m_physicsSetup.m_dynamicsWorld;
m_dynamicsWorld->setDebugDrawer(&gDebugDraw);
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
///create a few basic rigid bodies
btBoxShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
//groundShape->initializePolyhedralFeatures();
// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-50,0));
//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
{
btScalar mass(0.);
//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)
groundShape->calculateLocalInertia(mass,localInertia);
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
//add the body to the dynamics world
m_dynamicsWorld->addRigidBody(body);
}
{
//create a few dynamic rigidbodies
// Re-using the same collision is better for memory usage and performance
btBoxShape* colShape = new btBoxShape(btVector3(SCALING*1,SCALING*1,SCALING*1));
//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
m_collisionShapes.push_back(colShape);
/// Create Dynamic Objects
btTransform startTransform;
startTransform.setIdentity();
btScalar mass(1.f);
//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)
colShape->calculateLocalInertia(mass,localInertia);
float start_x = START_POS_X - ARRAY_SIZE_X/2;
float start_y = START_POS_Y;
float start_z = START_POS_Z - ARRAY_SIZE_Z/2;
for (int k=0;k<ARRAY_SIZE_Y;k++)
{
for (int i=0;i<ARRAY_SIZE_X;i++)
{
for(int j = 0;j<ARRAY_SIZE_Z;j++)
{
startTransform.setOrigin(SCALING*btVector3(
btScalar(2.0*i + start_x),
btScalar(20+2.0*k + start_y),
btScalar(2.0*j + start_z)));
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
m_dynamicsWorld->addRigidBody(body);
}
}
}
}
}
void BasicDemo::clientResetScene()
@@ -230,42 +139,7 @@ void BasicDemo::clientResetScene()
void BasicDemo::exitPhysics()
{
//cleanup in the reverse order of creation/initialization
//remove the rigidbodies from the dynamics world and delete them
int i;
for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
{
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
btRigidBody* body = btRigidBody::upcast(obj);
if (body && body->getMotionState())
{
delete body->getMotionState();
}
m_dynamicsWorld->removeCollisionObject( obj );
delete obj;
}
//delete collision shapes
for (int j=0;j<m_collisionShapes.size();j++)
{
btCollisionShape* shape = m_collisionShapes[j];
delete shape;
}
m_collisionShapes.clear();
delete m_dynamicsWorld;
delete m_solver;
delete m_broadphase;
delete m_dispatcher;
delete m_collisionConfiguration;
m_physicsSetup.exitPhysics();
}