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added brute-force triangle iteration method, to allow graphics to skip aabb traversal (useful for debugging)

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ejcoumans
2007-06-13 22:35:14 +00:00
parent 05cbd96972
commit effb5a8b62
7 changed files with 80 additions and 16 deletions
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38
Demos/ConcaveDemo/ConcavePhysicsDemo.cpp
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@@ -20,6 +20,12 @@ subject to the following restrictions:
#include "GL_ShapeDrawer.h"
#include "GlutStuff.h"
//#define USE_PARALLEL_DISPATCHER 1
#ifdef USE_PARALLEL_DISPATCHER
#include "../../Extras/BulletMultiThreaded/SpuGatheringCollisionDispatcher.h"
#endif//USE_PARALLEL_DISPATCHER
GLDebugDrawer debugDrawer;
class btIDebugDraw* debugDrawerPtr=0;
@@ -187,12 +193,22 @@ void ConcaveDemo::initPhysics()
// btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50));
btCollisionDispatcher* dispatcher = new btCollisionDispatcher();
#ifdef USE_PARALLEL_DISPATCHER
btCollisionDispatcher* dispatcher = new SpuGatheringCollisionDispatcher();
#else
btCollisionDispatcher* dispatcher = new btCollisionDispatcher();
#endif//USE_PARALLEL_DISPATCHER
btVector3 worldMin(-1000,-1000,-1000);
btVector3 worldMax(1000,1000,1000);
btOverlappingPairCache* pairCache = new btAxisSweep3(worldMin,worldMax);
btConstraintSolver* constraintSolver = new btSequentialImpulseConstraintSolver();
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver);
#ifdef USE_PARALLEL_DISPATCHER
m_dynamicsWorld->getDispatchInfo().m_enableSPU=true;
#endif //USE_PARALLEL_DISPATCHER
m_dynamicsWorld->setDebugDrawer(&debugDrawer);
debugDrawerPtr = &debugDrawer;
@@ -201,6 +217,17 @@ void ConcaveDemo::initPhysics()
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0,-2,0));
{
for (int i=0;i<10;i++)
{
//btCollisionShape* boxShape = new btBoxShape(btVector3(1,1,1));
btCollisionShape* boxShape = new btSphereShape(1.f);
startTransform.setOrigin(btVector3(2*i,10,1));
localCreateRigidBody(1, startTransform,boxShape);
}
}
startTransform.setIdentity();
staticBody = localCreateRigidBody(mass, startTransform,trimeshShape);
staticBody->setCollisionFlags(staticBody->getCollisionFlags() | btCollisionObject::CF_STATIC_OBJECT);
@@ -208,14 +235,7 @@ void ConcaveDemo::initPhysics()
//enable custom material callback
staticBody->setCollisionFlags(staticBody->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
{
for (int i=0;i<10;i++)
{
btCollisionShape* boxShape = new btBoxShape(btVector3(1,1,1));
startTransform.setOrigin(btVector3(2*i,10,1));
localCreateRigidBody(1, startTransform,boxShape);
}
}
}