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debug drawing for ParallelPhysicsEnvironment

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This commit is contained in:
ejcoumans
2006-07-05 05:22:09 +00:00
parent d2570694a9
commit faa1dc90be
6 changed files with 20 additions and 10 deletions
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2
Bullet/CollisionShapes/StaticPlaneShape.cpp
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@@ -60,6 +60,8 @@ void StaticPlaneShape::ProcessAllTriangles(TriangleCallback* callback,const Simd
//this is where the triangles are generated, given AABB and plane equation (normal/constant) //this is where the triangles are generated, given AABB and plane equation (normal/constant)
SimdVector3 tangentDir0,tangentDir1; SimdVector3 tangentDir0,tangentDir1;
//tangentDir0/tangentDir1 can be precalculated
SimdPlaneSpace1(m_planeNormal,tangentDir0,tangentDir1); SimdPlaneSpace1(m_planeNormal,tangentDir0,tangentDir1);
SimdVector3 supVertex0,supVertex1; SimdVector3 supVertex0,supVertex1;

8
Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
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@@ -13,7 +13,7 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution. 3. This notice may not be removed or altered from any source distribution.
*/ */
//#define USE_PARALLEL_DISPATCHER 1 #define USE_PARALLEL_DISPATCHER 1
#include "CcdPhysicsEnvironment.h" #include "CcdPhysicsEnvironment.h"
@@ -111,8 +111,12 @@ CollisionShape* shapePtr[numShapes] =
///Please don't make the box sizes larger then 1000: the collision detection will be inaccurate. ///Please don't make the box sizes larger then 1000: the collision detection will be inaccurate.
///See http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=346 ///See http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=346
#define USE_GROUND_PLANE 1
#ifdef USE_GROUND_PLANE
new StaticPlaneShape(SimdVector3(0,1,0),10),
#else
new BoxShape (SimdVector3(450,10,450)), new BoxShape (SimdVector3(450,10,450)),
//new StaticPlaneShape(SimdVector3(0,1,0),10), #endif
new BoxShape (SimdVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)), new BoxShape (SimdVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)),
new SphereShape (CUBE_HALF_EXTENTS- 0.05f), new SphereShape (CUBE_HALF_EXTENTS- 0.05f),

3
Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.h
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@@ -48,9 +48,10 @@ class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
{ {
SimdVector3 m_gravity; SimdVector3 m_gravity;
IDebugDraw* m_debugDrawer;
protected: protected:
IDebugDraw* m_debugDrawer;
//solver iterations //solver iterations
int m_numIterations; int m_numIterations;

2
Extras/PhysicsInterface/CcdPhysics/ParallelPhysicsEnvironment.cpp
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@@ -181,7 +181,7 @@ bool ParallelPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
{ {
if (simulationIslands[k].m_controllers.size()) if (simulationIslands[k].m_controllers.size())
{ {
simulationIslands[k].Simulate(m_numIterations, constraintBase ,&scene->GetOverlappingPair(0),dispatcher,GetBroadphase(),m_solver,timeStep); simulationIslands[k].Simulate(m_debugDrawer,m_numIterations, constraintBase ,&scene->GetOverlappingPair(0),dispatcher,GetBroadphase(),m_solver,timeStep);
} }
} }

10
Extras/PhysicsInterface/CcdPhysics/SimulationIsland.cpp
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@@ -22,10 +22,11 @@ subject to the following restrictions:
#include "ConstraintSolver/ContactSolverInfo.h" #include "ConstraintSolver/ContactSolverInfo.h"
#include "ConstraintSolver/ConstraintSolver.h" #include "ConstraintSolver/ConstraintSolver.h"
#include "ConstraintSolver/TypedConstraint.h" #include "ConstraintSolver/TypedConstraint.h"
#include "IDebugDraw.h"
extern float gContactBreakingTreshold; extern float gContactBreakingTreshold;
bool SimulationIsland::Simulate(int numSolverIterations,TypedConstraint** constraintsBaseAddress,BroadphasePair* overlappingPairBaseAddress, Dispatcher* dispatcher,BroadphaseInterface* broadphase,class ConstraintSolver* solver,float timeStep) bool SimulationIsland::Simulate(IDebugDraw* debugDrawer,int numSolverIterations,TypedConstraint** constraintsBaseAddress,BroadphasePair* overlappingPairBaseAddress, Dispatcher* dispatcher,BroadphaseInterface* broadphase,class ConstraintSolver* solver,float timeStep)
{ {
@@ -82,7 +83,8 @@ bool SimulationIsland::Simulate(int numSolverIterations,TypedConstraint** constr
dispatchInfo.m_timeStep = timeStep; dispatchInfo.m_timeStep = timeStep;
dispatchInfo.m_stepCount = 0; dispatchInfo.m_stepCount = 0;
dispatchInfo.m_enableSatConvex = false;//m_enableSatCollisionDetection; dispatchInfo.m_enableSatConvex = false;//m_enableSatCollisionDetection;
dispatchInfo.m_debugDraw = debugDrawer;
std::vector<BroadphasePair> overlappingPairs; std::vector<BroadphasePair> overlappingPairs;
overlappingPairs.resize(this->m_overlappingPairIndices.size()); overlappingPairs.resize(this->m_overlappingPairIndices.size());
@@ -208,7 +210,7 @@ bool SimulationIsland::Simulate(int numSolverIterations,TypedConstraint** constr
{ {
UpdateAabbs(broadphase,timeStep); UpdateAabbs(debugDrawer,broadphase,timeStep);
float toi = 1.f; float toi = 1.f;
@@ -364,7 +366,7 @@ void SimulationIsland::SyncMotionStates(float timeStep)
void SimulationIsland::UpdateAabbs(BroadphaseInterface* scene,float timeStep) void SimulationIsland::UpdateAabbs(IDebugDraw* debugDrawer,BroadphaseInterface* scene,float timeStep)
{ {
std::vector<CcdPhysicsController*>::iterator i; std::vector<CcdPhysicsController*>::iterator i;

5
Extras/PhysicsInterface/CcdPhysics/SimulationIsland.h
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@@ -19,6 +19,7 @@ subject to the following restrictions:
#include <vector> #include <vector>
class BroadphaseInterface; class BroadphaseInterface;
class Dispatcher; class Dispatcher;
class IDebugDraw;
///SimulationIsland groups all computations and data (for collision detection and dynamics) that can execute in parallel with other SimulationIsland's ///SimulationIsland groups all computations and data (for collision detection and dynamics) that can execute in parallel with other SimulationIsland's
///The ParallelPhysicsEnvironment and ParallelIslandDispatcher will dispatch SimulationIsland's ///The ParallelPhysicsEnvironment and ParallelIslandDispatcher will dispatch SimulationIsland's
@@ -34,7 +35,7 @@ class SimulationIsland
std::vector<int> m_overlappingPairIndices; std::vector<int> m_overlappingPairIndices;
std::vector<int> m_constraintIndices; std::vector<int> m_constraintIndices;
bool Simulate(int numSolverIterations,class TypedConstraint** constraintsBaseAddress,struct BroadphasePair* overlappingPairBaseAddress, Dispatcher* dispatcher,BroadphaseInterface* broadphase, class ConstraintSolver* solver, float timeStep); bool Simulate(IDebugDraw* debugDrawer,int numSolverIterations,class TypedConstraint** constraintsBaseAddress,struct BroadphasePair* overlappingPairBaseAddress, Dispatcher* dispatcher,BroadphaseInterface* broadphase, class ConstraintSolver* solver, float timeStep);
int GetNumControllers() int GetNumControllers()
@@ -46,7 +47,7 @@ class SimulationIsland
void SyncMotionStates(float timeStep); void SyncMotionStates(float timeStep);
void UpdateAabbs(BroadphaseInterface* broadphase,float timeStep); void UpdateAabbs(IDebugDraw* debugDrawer,BroadphaseInterface* broadphase,float timeStep);
}; };
#endif //SIMULATION_ISLAND_H #endif //SIMULATION_ISLAND_H