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Implement TimeWarpBase.

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-------------------------------------
This commit implements speeding up and slowing down examples. The
example can be influenced by the parameters. A separate example will be
added to show off the capabilities of the TimeWarpBase for other
examples. 

The walkers work quite well, a successful evolution was run over night
and reached a walker distance of 7.2m.
This commit is contained in:
Benelot
2016-09-16 09:49:18 +02:00
parent faada023be
commit f0f694145d
4 changed files with 926 additions and 13 deletions
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27
examples/Evolution/NN3DWalkers.cpp
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@@ -29,7 +29,7 @@ struct btCollisionAlgorithmCreateFunc;
class btDefaultCollisionConfiguration;
class NNWalker;
#include "../CommonInterfaces/CommonRigidBodyBase.h"
#include "../CommonInterfaces/CommonTimeWarpBase.h"
#include "../CommonInterfaces/CommonParameterInterface.h"
#include "../Utils/b3ReferenceFrameHelper.hpp"
@@ -99,7 +99,7 @@ static btScalar gParallelEvaluations = 10.0f;
void* GROUND_ID = (void*)1;
class NN3DWalkersExample : public CommonRigidBodyBase
class NN3DWalkersExample : public CommonTimeWarpBase
{
btScalar m_Time;
btScalar m_targetAccumulator;
@@ -114,7 +114,7 @@ class NN3DWalkersExample : public CommonRigidBodyBase
public:
NN3DWalkersExample(struct GUIHelperInterface* helper)
:CommonRigidBodyBase(helper),
:CommonTimeWarpBase(helper),
m_Time(0),
m_motorStrength(0.5f),
m_targetFrequency(3),
@@ -150,7 +150,7 @@ public:
m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
}
virtual void renderScene();
// virtual void renderScene();
// Evaluation
@@ -557,6 +557,9 @@ void floorNNSliderValue(float notUsed) {
void NN3DWalkersExample::initPhysics()
{
setupParameterInterface(); // parameter interface to use timewarp
gContactProcessedCallback = legContactProcessedCallback;
m_guiHelper->setUpAxis(1);
@@ -788,14 +791,14 @@ void NN3DWalkersExample::exitPhysics()
CommonRigidBodyBase::exitPhysics();
}
void NN3DWalkersExample::renderScene()
{
m_guiHelper->syncPhysicsToGraphics(m_dynamicsWorld);
m_guiHelper->render(m_dynamicsWorld);
debugDraw(m_dynamicsWorld->getDebugDrawer()->getDebugMode());
}
//void NN3DWalkersExample::renderScene()
//{
// m_guiHelper->syncPhysicsToGraphics(m_dynamicsWorld);
//
// m_guiHelper->render(m_dynamicsWorld);
//
// debugDraw(m_dynamicsWorld->getDebugDrawer()->getDebugMode());
//}
class CommonExampleInterface* ET_NN3DWalkersCreateFunc(struct CommonExampleOptions& options)
{