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Several changes to sync Bullet trunk with PlayStation 3 spubullet version

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Still needs some cross-platform fixes
This commit is contained in:
erwin.coumans
2010-07-08 17:02:38 +00:00
parent 76a58e1f4e
commit fbc17731ec
63 changed files with 10363 additions and 522 deletions
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69
Demos/ParticlesOpenCL/ParticlesDemo.cpp
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@@ -22,8 +22,9 @@ subject to the following restrictions:
//#define START_POS_Z btScalar(0.4f)
#define ARRAY_SIZE_X 32
#define ARRAY_SIZE_Y 32
//#define ARRAY_SIZE_Y 5
//#define ARRAY_SIZE_Y 16
#define ARRAY_SIZE_Z 16
//16
//#define ARRAY_SIZE_Z 1
//#define DIST btScalar(2.f)
#define DIST (DEF_PARTICLE_RADIUS * 2.f)
@@ -65,7 +66,7 @@ subject to the following restrictions:
btScalar gTimeStep = btScalar(1./60.);
btScalar gTimeStep = 0.5f;//btScalar(1./60.);
#define SCALING btScalar(1.f)
@@ -254,6 +255,7 @@ void ParticlesDemo::initPhysics()
{
// btCollisionShape* colShape = new btSphereShape(btScalar(1.0f));
/*
btCollisionShape* colShape = new btSphereShape(DEF_PARTICLE_RADIUS);
m_collisionShapes.push_back(colShape);
btTransform startTransform;
@@ -269,37 +271,53 @@ void ParticlesDemo::initPhysics()
rbInfo.m_startWorldTransform = startTransform;
btRigidBody* body = new btRigidBody(rbInfo);
m_pWorld->addRigidBody(body);
*/
init_scene_directly();
}
clientResetScene();
m_pWorld->initDeviceData();
}
static float frand(void) { return 2.0f * (float)rand()/(float)RAND_MAX - 1.0f; }
inline float frand(void){
return (float)rand() / (float)RAND_MAX;
}
void ParticlesDemo::init_scene_directly()
{
float start_x = START_POS_X - ARRAY_SIZE_X * DIST * btScalar(0.5f);
float start_y = START_POS_Y - ARRAY_SIZE_Y * DIST * btScalar(0.5f);
float start_z = START_POS_Z - ARRAY_SIZE_Z * DIST * btScalar(0.5f);
int total = ARRAY_SIZE_X * ARRAY_SIZE_Y * ARRAY_SIZE_Z;
m_pWorld->m_hPos.resize(total);
m_pWorld->m_hVel.resize(total);
total = 0;
for (int k=0;k<ARRAY_SIZE_Y;k++)
{
for (int i=0;i<ARRAY_SIZE_X;i++)
{
for(int j = 0;j<ARRAY_SIZE_Z;j++)
{
m_pWorld->m_hVel[total] = btVector3(0., 0., 0.);
btVector3 jitter = 0.01f * 0.03f * btVector3(frand(), frand(), frand());
m_pWorld->m_hPos[total] = btVector3(DIST*i + start_x, DIST*k + start_y, DIST*j + start_z) + jitter;
total++;
}
}
}
m_pWorld->m_numParticles = total;
srand(1969);
float start_x = -1+DEF_PARTICLE_RADIUS;//START_POS_X - ARRAY_SIZE_X * DIST * btScalar(0.5f);
float start_y = -1+DEF_PARTICLE_RADIUS;//START_POS_Y - ARRAY_SIZE_Y * DIST * btScalar(0.5f);
float start_z = -1+DEF_PARTICLE_RADIUS;//START_POS_Z - ARRAY_SIZE_Z * DIST * btScalar(0.5f);
int numParticles = ARRAY_SIZE_X * ARRAY_SIZE_Y * ARRAY_SIZE_Z;
m_pWorld->m_hPos.resize(numParticles);
m_pWorld->m_hVel.resize(numParticles);
btScalar spacing = 2 * DEF_PARTICLE_RADIUS;
for(int z=0; z<ARRAY_SIZE_Z; z++)
{
for(int y=0; y<ARRAY_SIZE_Y; y++)
{
for(int x=0; x<ARRAY_SIZE_X; x++)
{
int i = (z * ARRAY_SIZE_Y * ARRAY_SIZE_X) + (y * ARRAY_SIZE_X) + x;
if (i < numParticles)
{
btVector3 jitter = 0.01f * 0.03f * btVector3(frand(), frand(), frand());
m_pWorld->m_hVel[i]= btVector3(0,0,0);
m_pWorld->m_hPos[i].setX((spacing * x) + DEF_PARTICLE_RADIUS -WORLD_SIZE+jitter.getX());
m_pWorld->m_hPos[i].setY((spacing * y) + DEF_PARTICLE_RADIUS -WORLD_SIZE+jitter.getY());
m_pWorld->m_hPos[i].setZ((spacing * z) + DEF_PARTICLE_RADIUS -WORLD_SIZE+jitter.getZ());
}
}
}
}
m_pWorld->m_numParticles = numParticles;
}
@@ -314,6 +332,7 @@ void ParticlesDemo::clientResetScene()
}
else
{
m_pWorld->grabSimulationData();
}
}
@@ -392,7 +411,7 @@ void ParticlesDemo::renderme()
{
glColor3f(1.0, 1.0, 1.0);
glutWireCube(2.0);
glutWireCube(2*WORLD_SIZE);
glPointSize(5.0f);
glEnable(GL_POINT_SPRITE_ARB);