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Merge pull request #1171 from erwincoumans/master

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revert due to crashes on windows, when simulation speed is increased
This commit is contained in:
erwincoumans
2017-06-05 16:49:22 -07:00
committed by GitHub
parent 444f206c7c 91735acc7c
commit fb6d623d24
4 changed files with 447 additions and 859 deletions
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1179
examples/Evolution/NN3DWalkers.cpp
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File diff suppressed because it is too large Load Diff

28
examples/Evolution/NN3DWalkersTimeWarpBase.h
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@@ -208,8 +208,7 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
CommonRigidBodyBase(helper),
mPhysicsStepsPerSecondUpdated(false),
mFramesPerSecondUpdated(false),
mSolverIterationsUpdated(false),
mIsHeadless(false){
mSolverIterationsUpdated(false) {
// main frame timer initialization
mApplicationStart = mLoopTimer.getTimeMilliseconds(); /**!< Initialize when the application started running */
@@ -520,7 +519,7 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
m_collisionConfiguration);
}
changeERPCFM(); // set appropriate ERP/CFM values according to the spring and damper properties of the constraint
changeERPCFM(); // set appropriate ERP/CFM values according to the string and damper properties of the constraint
if (useSplitImpulse) { // If you experience strong repulsion forces in your constraints, it might help to enable the split impulse feature
m_dynamicsWorld->getSolverInfo().m_splitImpulse = 1; //enable split impulse feature
@@ -537,7 +536,7 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
m_dynamicsWorld->getSolverInfo().m_numIterations = gSolverIterations; // set the number of solver iterations for iteration based solvers
m_dynamicsWorld->setGravity(btVector3(0, btScalar(-9.81f), 0)); // set gravity to -9.81
m_dynamicsWorld->setGravity(btVector3(0, -9.81f, 0)); // set gravity to -9.81
}
@@ -552,7 +551,7 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
virtual void performModelUpdate(float deltaTime) // Override this
void timeWarpSimulation(float deltaTime) // Override this
{
}
@@ -560,7 +559,7 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
void stepSimulation(float deltaTime){ // customly step the simulation
do{
// settings
// // settings
if(mPhysicsStepsPerSecondUpdated){
changePhysicsStepsPerSecond(gPhysicsStepsPerSecond);
mPhysicsStepsPerSecondUpdated = false;
@@ -591,10 +590,10 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
//#############
// model update - here you perform updates of your model, be it the physics model, the game or simulation state or anything not related to graphics and input
performModelUpdate(deltaTime);
timeWarpSimulation(deltaTime);
if(mLoopTimer.getTimeSeconds() - speedUpPrintTimeStamp > 1){
// on reset, we calculate the performed speed up
double speedUp = ((double)performedTime*1000.0)/((double)(mLoopTimer.getTimeMilliseconds()-performanceTimestamp));
//double speedUp = ((double)performedTime*1000.0)/((double)(mLoopTimer.getTimeMilliseconds()-performanceTimestamp));
// b3Printf("Avg Effective speedup: %f",speedUp);
performedTime = 0;
performanceTimestamp = mLoopTimer.getTimeMilliseconds();
@@ -613,7 +612,7 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
mModelStart = mLoopTimer.getTimeMilliseconds(); /**!< Begin with the model update (in Milliseconds)*/
mLastGraphicsTick = mModelStart - mGraphicsStart; /**!< Update graphics timer (in Milliseconds) */
if (gMaximumSpeed) { /** If maximum speed is enabled*/
if (gMaximumSpeed /** If maximum speed is enabled*/) {
performMaxStep();
} else { /**!< This mode tries to progress as much time as it is expected from the game loop*/
performSpeedStep();
@@ -628,8 +627,8 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
mInputDt = mThisModelIteration - mInputClock;
if (mInputDt >= gApplicationTick) {
mInputClock = mThisModelIteration;
//mInputHandler.injectInput(); /**!< Inject input into handlers */
//mInputHandler.update(mInputClock); /**!< update elements that work on the current input state */
// mInputHandler.injectInput(); /**!< Inject input into handlers */
// mInputHandler.update(mInputClock); /**!< update elements that work on the current input state */
}
mGraphicsStart = mLoopTimer.getTimeMilliseconds(); /**!< Start the graphics update */
@@ -651,7 +650,7 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
}
virtual bool keyboardCallback(int key, int state)
virtual bool keyboardCallback(int key, int state)
{
switch(key)
{
@@ -753,9 +752,10 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
for (int i = 0; i < subSteps; i++) { /**!< Perform the number of substeps to reach the timestep*/
if (timeStep && m_dynamicsWorld) {
int subSteps = 1; // since we want to perform all proper steps, we perform no interpolated substeps
// since we want to perform all proper steps, we perform no interpolated substeps
int subSteps = 1;
m_dynamicsWorld->stepSimulation(btScalar(fixedPhysicsStepSizeSec),
m_dynamicsWorld->stepSimulation(btScalar(timeStep),
btScalar(subSteps), btScalar(fixedPhysicsStepSizeSec));
}
}

96
examples/RenderingExamples/TimeSeriesCanvas.cpp
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@@ -13,11 +13,7 @@ struct DataSource
float m_lastValue;
bool m_hasLastValue;
DataSource()
:m_red(0),
m_green(0),
m_blue(0),
m_lastValue(0),
m_hasLastValue(false)
:m_hasLastValue(false)
{
}
};
@@ -32,12 +28,10 @@ struct TimeSeriesInternalData
int m_height;
float m_pixelsPerUnit;
float m_center;
float m_zero;
int m_timeTicks;
int m_ticksPerSecond;
float m_yMax;
float m_yMin;
float m_yZero;
float m_yScale;
int m_bar;
unsigned char m_backgroundRed;
@@ -56,17 +50,13 @@ struct TimeSeriesInternalData
}
TimeSeriesInternalData(int width, int height)
:m_canvasInterface(NULL),
m_canvasIndex(0),
m_width(width),
:m_width(width),
m_height(height),
m_pixelsPerUnit(-100),
m_center(height/2.0),
m_zero(height/2.0),
m_timeTicks(0),
m_ticksPerSecond(100),
m_yMax(1),
m_yMin(0),
m_yZero(0.5f),
m_yScale(1),
m_bar(0),
m_backgroundRed(255),
m_backgroundGreen(255),
@@ -115,18 +105,13 @@ void TimeSeriesCanvas::addDataSource(const char* dataSourceLabel, unsigned char
}
void TimeSeriesCanvas::setupTimeSeries(float yScale, int ticksPerSecond, int startTime, bool clearCanvas)
{
setupTimeSeries(-yScale, yScale, ticksPerSecond, startTime, clearCanvas);
}
void TimeSeriesCanvas::setupTimeSeries(float yMin, float yMax, int ticksPerSecond, int startTime, bool clearCanvas)
{
if (0==m_internalData->m_canvasInterface)
return;
m_internalData->m_pixelsPerUnit = -(m_internalData->m_height/3.f)/(0.5f*(yMax-yMin));
m_internalData->m_pixelsPerUnit = -(m_internalData->m_height/3.f)/yScale;
m_internalData->m_ticksPerSecond = ticksPerSecond;
m_internalData->m_yMin = yMin;
m_internalData->m_yMax = yMax;
m_internalData->m_yScale = yScale;
m_internalData->m_dataSources.clear();
if (clearCanvas)
@@ -145,22 +130,18 @@ void TimeSeriesCanvas::setupTimeSeries(float yMin, float yMax, int ticksPerSecon
}
}
float centerPixelCoord = m_internalData->m_center;
float zeroPixelCoord = m_internalData->m_zero;
float pixelsPerUnit = m_internalData->m_pixelsPerUnit;
m_internalData->m_yZero = centerPixelCoord - pixelsPerUnit*0.5f*(yMax+yMin);
float yPos = centerPixelCoord+pixelsPerUnit*0.5f*(yMax-yMin);
float yNeg = centerPixelCoord+pixelsPerUnit*-0.5f*(yMax-yMin);
float yPos = zeroPixelCoord+pixelsPerUnit*yScale;
float yNeg = zeroPixelCoord+pixelsPerUnit*-yScale;
if(yMin < 0 && yMax > 0){
grapicalPrintf("0", sTimeSeriesFontData, 2,m_internalData->m_yZero,m_internalData->m_textColorRed,m_internalData->m_textColorGreen,m_internalData->m_textColorBlue,m_internalData->m_textColorAlpha);
}
grapicalPrintf("0", sTimeSeriesFontData, 2,zeroPixelCoord,m_internalData->m_textColorRed,m_internalData->m_textColorGreen,m_internalData->m_textColorBlue,m_internalData->m_textColorAlpha);
char label[1024];
sprintf(label,"%2.1f", yMax);
sprintf(label,"%2.1f", yScale);
grapicalPrintf(label, sTimeSeriesFontData, 2,yPos,m_internalData->m_textColorRed,m_internalData->m_textColorGreen,m_internalData->m_textColorBlue,m_internalData->m_textColorAlpha);
sprintf(label,"%2.1f", yMin);
sprintf(label,"%2.1f", -yScale);
grapicalPrintf(label, sTimeSeriesFontData, 2,yNeg,m_internalData->m_textColorRed,m_internalData->m_textColorGreen,m_internalData->m_textColorBlue,m_internalData->m_textColorAlpha);
m_internalData->m_canvasInterface->refreshImageData(m_internalData->m_canvasIndex);
@@ -228,7 +209,7 @@ void TimeSeriesCanvas::shift1PixelToLeft()
int resetVal = 10;
int countdown = resetVal;
//shift picture one pixel to the left
//shift pixture one pixel to the left
for (int j=50;j<m_internalData->m_height-48;j++)
{
for (int i=40;i<this->m_internalData->m_width;i++)
@@ -257,34 +238,35 @@ void TimeSeriesCanvas::shift1PixelToLeft()
}
}
{
int resetVal = 2;
static int countdown = resetVal;
if (!countdown--)
{
countdown=resetVal;
m_internalData->m_canvasInterface->setPixel(m_internalData->m_canvasIndex,m_internalData->m_width-1,m_internalData->m_yZero,0,0,0,255);
int resetVal = 2;
static int countdown = resetVal;
if (!countdown--)
{
countdown=resetVal;
m_internalData->m_canvasInterface->setPixel(m_internalData->m_canvasIndex,m_internalData->m_width-1,m_internalData->m_zero,0,0,0,255);
}
}
}
{
int resetVal = 10;
static int countdown = resetVal;
if (!countdown--)
{
countdown=resetVal;
float centerPixelCoord = m_internalData->m_center;
float pixelsPerUnit = m_internalData->m_pixelsPerUnit;
int resetVal = 10;
static int countdown = resetVal;
if (!countdown--)
{
countdown=resetVal;
float zeroPixelCoord = m_internalData->m_zero;
float pixelsPerUnit = m_internalData->m_pixelsPerUnit;
float yPos = centerPixelCoord+pixelsPerUnit*0.5f*(m_internalData->m_yMax-m_internalData->m_yMin);
float yNeg = centerPixelCoord+pixelsPerUnit*-0.5f*(m_internalData->m_yMax-m_internalData->m_yMin);
float yPos = zeroPixelCoord+pixelsPerUnit*m_internalData->m_yScale;
float yNeg = zeroPixelCoord+pixelsPerUnit*-m_internalData->m_yScale;
m_internalData->m_canvasInterface->setPixel(m_internalData->m_canvasIndex,m_internalData->m_width-1,
yPos,0,0,0,255);
m_internalData->m_canvasInterface->setPixel(m_internalData->m_canvasIndex,m_internalData->m_width-1,
yNeg,0,0,0,255);
m_internalData->m_canvasInterface->setPixel(m_internalData->m_canvasIndex,m_internalData->m_width-1,
yPos,0,0,0,255);
m_internalData->m_canvasInterface->setPixel(m_internalData->m_canvasIndex,m_internalData->m_width-1,
yNeg,0,0,0,255);
}
}
}
@@ -294,7 +276,7 @@ void TimeSeriesCanvas::shift1PixelToLeft()
char buf[1024];
float time = m_internalData->getTime();
sprintf(buf,"%2.0f",time);
grapicalPrintf(buf, sTimeSeriesFontData, m_internalData->m_width-25,m_internalData->m_center+3,0,0,0,255);
grapicalPrintf(buf, sTimeSeriesFontData, m_internalData->m_width-25,m_internalData->m_zero+3,0,0,0,255);
m_internalData->m_bar=m_internalData->m_ticksPerSecond;
@@ -312,7 +294,7 @@ void TimeSeriesCanvas::insertDataAtCurrentTime(float orgV, int dataSourceIndex,
btAssert(dataSourceIndex < m_internalData->m_dataSources.size());
float zero = m_internalData->m_yZero;
float zero = m_internalData->m_zero;
float amp = m_internalData->m_pixelsPerUnit;
//insert some new value(s) in the right-most column
{

3
examples/RenderingExamples/TimeSeriesCanvas.h
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@@ -13,7 +13,6 @@ public:
virtual ~TimeSeriesCanvas();
void setupTimeSeries(float yScale, int ticksPerSecond, int startTime, bool clearCanvas=true);
void setupTimeSeries(float yMin, float yMax, int ticksPerSecond, int startTime, bool clearCanvas=true);
void addDataSource(const char* dataSourceLabel, unsigned char red,unsigned char green,unsigned char blue);
void insertDataAtCurrentTime(float value, int dataSourceIndex, bool connectToPrevious);
float getCurrentTime() const;
@@ -23,4 +22,4 @@ public:
};
#endif//TIME_SERIES_CANVAS_H
#endif//TIME_SERIES_CANVAS_H