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Added method to collect all persistent contact manifolds, given a btBroadphasePair (collision algorithm)

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virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray)
See Demos/CharacterDemo/CharacterDemo.cpp for example usage of getAllContactManifolds
Added btDbvtBroadphase to btBulletCollisionCommon.h headerfile
Enable soft body vs concave (albeit slow)
Improved contact point debug rendering (moved from constraint solver into debugDrawWorld)
This commit is contained in:
erwin.coumans
2008-05-24 04:23:00 +00:00
parent 6141a55f09
commit f8e5481612
37 changed files with 889 additions and 633 deletions
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6
Demos/AllBulletDemos/Main.cpp
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@@ -50,7 +50,7 @@ namespace
float viewY = 0.0f;
int tx, ty, tw, th;
int gDrawAabb=0;
int gDebugDraw=0;
int gWireFrame=0;
int gDebugContacts=0;
int gDebugNoDeactivation = 0;
}
@@ -120,7 +120,7 @@ void SimulationLoop()
{
demo->setDebugMode(demo->getDebugMode() & (~btIDebugDraw::DBG_DrawAabb));
}
if (gDebugDraw)
if (gWireFrame)
{
demo->setDebugMode(demo->getDebugMode() |btIDebugDraw::DBG_DrawWireframe);
} else
@@ -284,7 +284,7 @@ int main(int argc, char** argv)
GLUI_Panel* drawPanel = glui->add_panel("Draw");
glui->add_checkbox_to_panel(drawPanel, "AABBs", &gDrawAabb);
glui->add_checkbox_to_panel(drawPanel, "DebugDrawer", &gDebugDraw);
glui->add_checkbox_to_panel(drawPanel, "Wireframe", &gWireFrame);
glui->add_checkbox_to_panel(drawPanel, "Contacts", &gDebugContacts);
// glui->add_checkbox_to_panel(drawPanel, "Impulses", &settings.drawImpulses);

1
Demos/Benchmarks/BenchmarkDemo.cpp
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@@ -274,7 +274,6 @@ void BenchmarkDemo::initPhysics()
btVector3 worldAabbMax(10000,10000,10000);
m_overlappingPairCache = new btAxisSweep3(worldAabbMin,worldAabbMax,3500);
//m_overlappingPairCache = new btDbvtBroadphase();
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;

6
Demos/BspDemo/BspDemo.cpp
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@@ -147,7 +147,8 @@ void BspDemo::initPhysics(char* bspfilename)
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
btVector3 worldMin(-1000,-1000,-1000);
btVector3 worldMax(1000,1000,1000);
m_broadphase = new btAxisSweep3(worldMin,worldMax);
m_broadphase = new btDbvtBroadphase();
//m_broadphase = new btAxisSweep3(worldMin,worldMax);
//btOverlappingPairCache* broadphase = new btSimpleBroadphase();
m_solver = new btSequentialImpulseConstraintSolver();
//ConstraintSolver* solver = new OdeConstraintSolver;
@@ -235,6 +236,9 @@ void BspDemo::displayCallback(void) {
renderme();
//optional but useful: debug drawing
if (m_dynamicsWorld)
m_dynamicsWorld->debugDrawWorld();
glFlush();
glutSwapBuffers();

7
Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
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@@ -240,7 +240,7 @@ void CcdPhysicsDemo::clientMoveAndDisplay()
//optional but useful: debug drawing
m_dynamicsWorld->debugDrawWorld();
#ifdef VERBOSE_TIMESTEPPING_CONSOLEOUTPUT
if (!numSimSteps)
printf("Interpolated transforms\n");
@@ -295,9 +295,12 @@ void CcdPhysicsDemo::displayCallback(void) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
renderme();
//optional but useful: debug drawing
if (m_dynamicsWorld)
m_dynamicsWorld->debugDrawWorld();
glFlush();
glutSwapBuffers();
}

1157
Demos/CharacterDemo/CharacterDemo.cpp
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File diff suppressed because it is too large Load Diff

2
Demos/CharacterDemo/CharacterDemo.h
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@@ -41,6 +41,8 @@ class CharacterDemo : public DemoApplication
class btTriangleIndexVertexArray* m_indexVertexArrays;
class MyCustomOverlappingPairCallback* m_customPairCallback;
btVector3* m_vertices;

4
Demos/CharacterDemo/main.cpp
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@@ -1,7 +1,10 @@
#include "CharacterDemo.h"
#include "GlutStuff.h"
#include "GLDebugDrawer.h"
#include "btBulletDynamicsCommon.h"
GLDebugDrawer gDebugDrawer;
int main(int argc,char** argv)
{
@@ -9,6 +12,7 @@ int main(int argc,char** argv)
CharacterDemo* characterDemo = new CharacterDemo;
characterDemo->initPhysics();
characterDemo->getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
return glutmain(argc, argv,640,480,"Bullet Character Demo. http://www.continuousphysics.com/Bullet/phpBB2/", characterDemo);
}

6
Demos/ConcaveDemo/ConcavePhysicsDemo.cpp
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@@ -351,6 +351,7 @@ void ConcaveDemo::clientMoveAndDisplay()
//optional but useful: debug drawing
m_dynamicsWorld->debugDrawWorld();
renderme();
@@ -368,6 +369,11 @@ void ConcaveDemo::displayCallback(void) {
renderme();
//optional but useful: debug drawing
if (m_dynamicsWorld)
m_dynamicsWorld->debugDrawWorld();
glFlush();
glutSwapBuffers();
}

4
Demos/GimpactTestDemo/GimpactTestDemo.cpp
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@@ -628,6 +628,10 @@ void GimpactConcaveDemo::displayCallback(void) {
renderme();
//optional but useful: debug drawing
if (m_dynamicsWorld)
m_dynamicsWorld->debugDrawWorld();
glFlush();
glutSwapBuffers();
}

4
Demos/MovingConcaveDemo/ConcavePhysicsDemo.cpp
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@@ -1909,6 +1909,10 @@ void ConcaveDemo::displayCallback(void) {
renderme();
//optional but useful: debug drawing
if (m_dynamicsWorld)
m_dynamicsWorld->debugDrawWorld();
glFlush();
glutSwapBuffers();
}

4
Demos/MultiThreadedDemo/MultiThreadedDemo.cpp
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@@ -212,6 +212,10 @@ void MultiThreadedDemo::displayCallback(void) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
//optional but useful: debug drawing
if (m_dynamicsWorld)
m_dynamicsWorld->debugDrawWorld();
renderme();

2
Demos/OpenGL/GLDebugDrawer.cpp
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@@ -68,7 +68,7 @@ void GLDebugDrawer::reportErrorWarning(const char* warningString)
void GLDebugDrawer::drawContactPoint(const btVector3& pointOnB,const btVector3& normalOnB,btScalar distance,int lifeTime,const btVector3& color)
{
if (m_debugMode & btIDebugDraw::DBG_DrawContactPoints)
{
btVector3 to=pointOnB+normalOnB*distance;
const btVector3&from = pointOnB;

6
Demos/RagdollDemo/RagdollDemo.cpp
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@@ -373,9 +373,11 @@ void RagdollDemo::clientMoveAndDisplay()
if (m_dynamicsWorld)
{
m_dynamicsWorld->stepSimulation(ms / 1000000.f);
//optional but useful: debug drawing
m_dynamicsWorld->debugDrawWorld();
}
renderme();
@@ -391,6 +393,10 @@ void RagdollDemo::displayCallback()
renderme();
//optional but useful: debug drawing
if (m_dynamicsWorld)
m_dynamicsWorld->debugDrawWorld();
glFlush();
glutSwapBuffers();
}

6
Demos/RagdollDemo/main.cpp
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@@ -1,13 +1,17 @@
#include "RagdollDemo.h"
#include "GlutStuff.h"
#include "GLDebugDrawer.h"
#include "btBulletDynamicsCommon.h"
GLDebugDrawer gDebugDrawer;
int main(int argc,char* argv[])
{
RagdollDemo demoApp;
demoApp.initPhysics();
demoApp.getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bullet.sf.net",&demoApp);
}

2
Demos/SoftDemo/SoftDemo.cpp
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@@ -1182,7 +1182,7 @@ void SoftDemo::initPhysics()
btCollisionShape* groundShape = 0;
bool useConcaveMesh = false;//not ready yet true;
bool useConcaveMesh = true;//not ready yet true;
if (useConcaveMesh)
{

11
Demos/VehicleDemo/VehicleDemo.cpp
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@@ -450,9 +450,7 @@ void VehicleDemo::clientMoveAndDisplay()
dt = 1.0/420.f;
int numSimSteps = m_dynamicsWorld->stepSimulation(dt,maxSimSubSteps);
//optional but useful: debug drawing
m_dynamicsWorld->debugDrawWorld();
//#define VERBOSE_FEEDBACK
#ifdef VERBOSE_FEEDBACK
@@ -486,6 +484,10 @@ void VehicleDemo::clientMoveAndDisplay()
renderme();
//optional but useful: debug drawing
if (m_dynamicsWorld)
m_dynamicsWorld->debugDrawWorld();
#ifdef USE_QUICKPROF
btProfiler::endBlock("render");
#endif
@@ -504,6 +506,9 @@ void VehicleDemo::displayCallback(void)
renderme();
//optional but useful: debug drawing
if (m_dynamicsWorld)
m_dynamicsWorld->debugDrawWorld();
glFlush();
glutSwapBuffers();