demo for testing GIMPACT 0.3, thanks to Francisco Leon for the update. GIMPACT demo/build system will be fixed today.

Demos/GimpactTestDemo/BunnyMesh.h

@@ -1376,4 +1376,4 @@ int gIndicesBunny[BUNNY_NUM_TRIANGLES][3] = {
 //***************************THE END OF FAMOUS BUNNY TRIMESH********************************************//
 
 
-#endif //BUNNY_MESH_H_
+#endif //BUNNY_MESH_H_

Demos/GimpactTestDemo/GimpactTestDemo.cpp

@@ -16,14 +16,16 @@ subject to the following restrictions:
 #include "btBulletDynamicsCommon.h"
 #include "GimpactTestDemo.h"
 
+#define SHOW_NUM_DEEP_PENETRATIONS
+
 #include "LinearMath/btDefaultMotionState.h"
 #include "LinearMath/btIDebugDraw.h"
 #include "LinearMath/btQuickprof.h"
 #include "LinearMath/btDefaultMotionState.h"
 
 /// Including GIMPACT here
-#include "GIMPACT/Bullet/btGImpactShape.h"
+
-#include "GIMPACT/Bullet/btGImpactCollisionAlgorithm.h"
+
 
 #include "BMF_Api.h"
 
@@ -32,10 +34,17 @@ subject to the following restrictions:
 #include "GL_ShapeDrawer.h"
 #include "GlutStuff.h"
 
-/// Include Torus Mesh here 
+/// Include Torus Mesh here
 #include "TorusMesh.h"
 #include "BunnyMesh.h"
 
+#ifdef SHOW_NUM_DEEP_PENETRATIONS 
+extern int gNumDeepPenetrationChecks;
+extern int gNumGjkChecks;
+#endif //
+
+
+
 GLDebugDrawer	debugDrawer;
 //Real			dts = 0.000001f;
 Real			dts = 1.0 / 60.0;
@@ -43,10 +52,10 @@ Real			dts = 1.0 / 60.0;
 
 ///**************************************************************************************
 ///	GIMPACT Test Demo made by DevO
-/// 
+///
 ///**************************************************************************************
 
-#define TEST_GIMPACT_TORUS
+
 
 //------------------------------------------------------------------------------
 ///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback;
@@ -130,7 +139,7 @@ void GimpactConcaveDemo::renderme()
 {
 	updateCamera();
 
-	
+
 	btScalar m[16];
 
 	if (m_dynamicsWorld)
@@ -255,6 +264,21 @@ void GimpactConcaveDemo::renderme()
 			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
 			yStart += yIncr;
 
+			#ifdef SHOW_NUM_DEEP_PENETRATIONS
+				
+				glRasterPos3f(xOffset,yStart,0);
+				sprintf(buf,"gNumDeepPenetrationChecks = %d",gNumDeepPenetrationChecks);
+				BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+				yStart += yIncr;
+
+				glRasterPos3f(xOffset,yStart,0);
+				sprintf(buf,"gNumGjkChecks= %d",gNumGjkChecks);
+				BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+				yStart += yIncr;
+
+			#endif //SHOW_NUM_DEEP_PENETRATIONS
+
+
 			resetPerspectiveProjection();
 
 
@@ -274,11 +298,29 @@ void	GimpactConcaveDemo::initGImpactCollision()
 			NUM_VERTICES,
 			(Real*) &gVertices[0],sizeof(Real)*3);
 
-		btGImpactMeshShape * trimesh = new btGImpactMeshShape(m_indexVertexArrays);
+#ifdef BULLET_GIMPACT
-		trimesh->setLocalScaling(btVector3(1.f,1.f,1.f));
+		#ifdef BULLET_GIMPACT_CONVEX_DECOMPOSITION
-		trimesh->updateBound();
+			btGImpactConvexDecompositionShape * trimesh  = new
-		trimesh->setMargin(0.01); ///?????
+			btGImpactConvexDecompositionShape(
+			m_indexVertexArrays, btVector3(1.f,1.f,1.f),btScalar(0.01));
+			trimesh->updateBound();
+		#else
+			btGImpactMeshShape * trimesh = new btGImpactMeshShape(m_indexVertexArrays);
+			trimesh->setLocalScaling(btVector3(1.f,1.f,1.f));
+			#ifdef BULLET_TRIANGLE_COLLISION 
+			trimesh->setMargin(0.07f); ///?????
+			#else
+			trimesh->setMargin(0.0f);
+			#endif
+			trimesh->updateBound();
+		#endif
+
 		m_trimeshShape = trimesh;
+
+#else
+		m_trimeshShape = new btGIMPACTMeshData(m_indexVertexArrays);
+#endif
+
 	}
 
 	/// Create Bunny Shape
@@ -289,32 +331,73 @@ void	GimpactConcaveDemo::initGImpactCollision()
 			3*sizeof(int),
 			BUNNY_NUM_VERTICES,
 			(Real*) &gVerticesBunny[0],sizeof(Real)*3);
+#ifdef BULLET_GIMPACT
+
+		#ifdef BULLET_GIMPACT_CONVEX_DECOMPOSITION
+			btGImpactConvexDecompositionShape * trimesh2  = new
+			btGImpactConvexDecompositionShape(
+			m_indexVertexArrays2, btVector3(4.f,4.f,4.f),btScalar(0.01));
+			trimesh2->updateBound();
+		#else
+			btGImpactMeshShape * trimesh2 = new btGImpactMeshShape(m_indexVertexArrays2);
+			trimesh2->setLocalScaling(btVector3(4.f,4.f,4.f));
+			#ifdef BULLET_TRIANGLE_COLLISION 
+			trimesh2->setMargin(0.07f); ///?????
+			#else
+			trimesh2->setMargin(0.0f);
+			#endif
+			trimesh2->updateBound();
+		#endif
+
+
 
-		btGImpactMeshShape * trimesh2 = new btGImpactMeshShape(m_indexVertexArrays2);
-		trimesh2->setLocalScaling(btVector3(4.f,4.f,4.f));
-		trimesh2->updateBound();
-		trimesh2->setMargin(0.01); ///?????
 		m_trimeshShape2 = trimesh2;
+#else
+		m_trimeshShape2 = new btGIMPACTMeshData(m_indexVertexArrays2);
+
+#endif
+
 	}
 
 
 	///register GIMPACT algorithm
 	btCollisionDispatcher * dispatcher = static_cast<btCollisionDispatcher *>(m_dynamicsWorld ->getDispatcher());
-	{
+
-		//btGImpactCollisionAlgorithm::registerAlgorithm(dispatcher); /// Register GIMPACT !!!
+#ifdef BULLET_GIMPACT
-		if(!m_gimpactCollisionCreateFunc) m_gimpactCollisionCreateFunc = new btGImpactCollisionAlgorithm::CreateFunc;  /// NEW 
+	btGImpactCollisionAlgorithm::registerAlgorithm(dispatcher);
-		
+#else
-		for (GUINT i = 0;i < MAX_BROADPHASE_COLLISION_TYPES ;i++ )
+	btConcaveConcaveCollisionAlgorithm::registerAlgorithm(dispatcher);
-		{
+#endif
-			m_dispatcher->registerCollisionCreateFunc(GIMPACT_SHAPE_PROXYTYPE,i ,m_gimpactCollisionCreateFunc);
+
-		}
+//	{
-		for (GUINT i = 0;i < MAX_BROADPHASE_COLLISION_TYPES ;i++ )
+//		//btGImpactCollisionAlgorithm::registerAlgorithm(dispatcher); /// Register GIMPACT !!!
-		{
+//		if(!m_gimpactCollisionCreateFunc) m_gimpactCollisionCreateFunc = new btGImpactCollisionAlgorithm::CreateFunc;  /// NEW
-			m_dispatcher->registerCollisionCreateFunc(i,GIMPACT_SHAPE_PROXYTYPE ,m_gimpactCollisionCreateFunc);
+//
-		}	
+//		for (int i = 0;i < MAX_BROADPHASE_COLLISION_TYPES ;i++ )
-	}
+//		{
+//			m_dispatcher->registerCollisionCreateFunc(GIMPACT_SHAPE_PROXYTYPE,i ,m_gimpactCollisionCreateFunc);
+//		}
+//		for (int i = 0;i < MAX_BROADPHASE_COLLISION_TYPES ;i++ )
+//		{
+//			m_dispatcher->registerCollisionCreateFunc(i,GIMPACT_SHAPE_PROXYTYPE ,m_gimpactCollisionCreateFunc);
+//		}
+//	}
 }
 
+#ifndef BULLET_GIMPACT
+btCollisionShape * GimpactConcaveDemo::createTorusShape()
+{
+	btGIMPACTMeshShape * newtrimeshShape  = new btGIMPACTMeshShape(m_trimeshShape);
+	newtrimeshShape->setLocalScaling(btVector3(1.f,1.f,1.f));
+	return newtrimeshShape;
+}
+btCollisionShape * GimpactConcaveDemo::createBunnyShape()
+{
+	btGIMPACTMeshShape * newtrimeshShape  = new btGIMPACTMeshShape(m_trimeshShape2);
+	newtrimeshShape->setLocalScaling(btVector3(4.f,4.f,4.f));
+	return newtrimeshShape;
+}
+#endif
 //------------------------------------------------------------------------------
 void	GimpactConcaveDemo::initPhysics()
 {
@@ -325,7 +408,7 @@ void	GimpactConcaveDemo::initPhysics()
 	//btOverlappingPairCache* broadphase = new btSimpleBroadphase();
 	//m_broadphase = new btSimpleBroadphase();
 
-	int  maxProxies = 1024;
+	LONG maxProxies = 1024;
 	btVector3 worldAabbMin(-10000,-10000,-10000);
 	btVector3 worldAabbMax( 10000, 10000, 10000);
 	m_broadphase = new bt32BitAxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
@@ -365,7 +448,7 @@ void	GimpactConcaveDemo::initPhysics()
 	startTransform.setOrigin(btVector3(0,15,-200));
 	staticScenario->addChildShape(startTransform,staticboxShape5);
 
-	startTransform.setOrigin(btVector3(0,-10,0));
+	startTransform.setOrigin(btVector3(0,0,0));
 
 	btRigidBody* staticBody = localCreateRigidBody(mass, startTransform,staticScenario);
 
@@ -377,29 +460,47 @@ void	GimpactConcaveDemo::initPhysics()
 
 
 	//static plane
-	/*
+	
-	btVector3 normal(0.4,1.5,-0.4);
+	btVector3 normal(-0.5,0.5,0.0);
 	normal.normalize();
 	btCollisionShape* staticplaneShape6 = new btStaticPlaneShape(normal,0.0);// A plane
 
-	startTransform.setOrigin(btVector3(0,-20,0));
+	startTransform.setOrigin(btVector3(0,-9,0));
 
 	btRigidBody* staticBody2 = localCreateRigidBody(mass, startTransform,staticplaneShape6 );
 
 	staticBody2->setCollisionFlags(staticBody2->getCollisionFlags()|btCollisionObject::CF_STATIC_OBJECT);
 	staticBody2->setActivationState(ISLAND_SLEEPING);
-	*/
+	
+
+	//another static plane
+	
+	normal.setValue(0.5,0.7,0.0);
+	//normal.normalize();
+	btCollisionShape* staticplaneShape7 = new btStaticPlaneShape(normal,0.0);// A plane
+
+	startTransform.setOrigin(btVector3(0,-10,0));
+
+	staticBody2 = localCreateRigidBody(mass, startTransform,staticplaneShape7 );
+
+	staticBody2->setCollisionFlags(staticBody2->getCollisionFlags()|btCollisionObject::CF_STATIC_OBJECT);
+	staticBody2->setActivationState(ISLAND_SLEEPING);
 
 
 	/// Create Static Torus
-	float  height = 32;
+	float  height = 28;
 	float step = 2.5;
 	float massT = 1.0;
 
 	startTransform.setOrigin(btVector3(0,height,-5));
 	startTransform.setRotation(btQuaternion(3.14159265*0.5,0,3.14159265*0.5));
+#ifdef BULLET_GIMPACT
 	kinematicTorus = localCreateRigidBody(0.0, startTransform,m_trimeshShape);
-	//kinematicTorus->setCollisionFlags(kinematicTorus->getCollisionFlags()|btCollisionObject::CF_STATIC_OBJECT);
+
+#else
+	kinematicTorus = localCreateRigidBody(0.0, startTransform,createTorusShape());
+
+#endif	//kinematicTorus->setCollisionFlags(kinematicTorus->getCollisionFlags()|btCollisionObject::CF_STATIC_OBJECT);
 	//kinematicTorus->setActivationState(ISLAND_SLEEPING);
 
 	kinematicTorus->setCollisionFlags( kinematicTorus->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
@@ -411,12 +512,14 @@ void	GimpactConcaveDemo::initPhysics()
 
 #ifdef TEST_GIMPACT_TORUS
 
+#ifdef BULLET_GIMPACT
 	/// Create dynamic Torus
-	for (int i=0;i<8;i++)
+	for (int i=0;i<6;i++)
 	{
 		height -= step;
 		startTransform.setOrigin(btVector3(0,height,-5));
 		startTransform.setRotation(btQuaternion(0,0,3.14159265*0.5));
+
 		btRigidBody* bodyA = localCreateRigidBody(massT, startTransform,m_trimeshShape);
 
 		height -= step;
@@ -425,6 +528,24 @@ void	GimpactConcaveDemo::initPhysics()
 		btRigidBody* bodyB = localCreateRigidBody(massT, startTransform,m_trimeshShape);
 
 	}
+#else
+
+/// Create dynamic Torus
+	for (int i=0;i<6;i++)
+	{
+		height -= step;
+		startTransform.setOrigin(btVector3(0,height,-5));
+		startTransform.setRotation(btQuaternion(0,0,3.14159265*0.5));
+
+		btRigidBody* bodyA = localCreateRigidBody(massT, startTransform,createTorusShape());
+
+		height -= step;
+		startTransform.setOrigin(btVector3(0,height,-5));
+		startTransform.setRotation(btQuaternion(3.14159265*0.5,0,3.14159265*0.5));
+		btRigidBody* bodyB = localCreateRigidBody(massT, startTransform,createTorusShape());
+
+	}
+#endif //no BULLET_GIMPACT
 #endif
 
 	startTransform.setIdentity();
@@ -432,7 +553,7 @@ void	GimpactConcaveDemo::initPhysics()
 
 	/// Create Dynamic Boxes
 	{
-		for (int i=0;i<9;i++)
+		for (int i=0;i<8;i++)
 		{
 			btCollisionShape* boxShape = new btBoxShape(btVector3(1,1,1));
 			startTransform.setOrigin(btVector3(2*i-5,2,-3));
@@ -455,9 +576,11 @@ void GimpactConcaveDemo::shootTrimesh(const btVector3& destination)
 		startTransform.setIdentity();
 		btVector3 camPos = getCameraPosition();
 		startTransform.setOrigin(camPos);
-
+#ifdef BULLET_GIMPACT
 		btRigidBody* body = this->localCreateRigidBody(mass, startTransform,m_trimeshShape2);
-
+#else
+		btRigidBody* body = this->localCreateRigidBody(mass, startTransform,createBunnyShape());
+#endif
 		btVector3 linVel(destination[0]-camPos[0],destination[1]-camPos[1],destination[2]-camPos[2]);
 		linVel.normalize();
 		linVel*=m_ShootBoxInitialSpeed*0.25;
@@ -487,7 +610,7 @@ void GimpactConcaveDemo::clientMoveAndDisplay()
 		btTransform newTrans;
 		btRigidBody::upcast(colObj)->getMotionState()->getWorldTransform(newTrans);
 
-		newTrans.getOrigin() += kinTorusTran; 
+		newTrans.getOrigin() += kinTorusTran;
 		newTrans.getBasis() = newTrans.getBasis() * btMatrix3x3(kinTorusRot);
 		if(newTrans.getOrigin().getX() > 6.0){
 			newTrans.getOrigin().setX(6.0);
@@ -511,11 +634,20 @@ void GimpactConcaveDemo::clientMoveAndDisplay()
 
 #endif //USE_KINEMATIC_GROUND
 
+
 	unsigned long int time = m_clock.getTimeMilliseconds();
+	printf("%i time %i ms \n",m_steps_done,time);
+
+//#ifdef BULLET_GIMPACT
+//	printf("%i time %.1f ms \n",m_steps_done,btGImpactCollisionAlgorithm::getAverageTreeCollisionTime());
+//#else
+//	printf("%i time %.1f ms \n",m_steps_done,btConcaveConcaveCollisionAlgorithm::getAverageTreeCollisionTime());
+//#endif
+
 	//float dt = float(m_clock.getTimeMicroseconds()) * dts; //0.000001f;
 	float dt = float(m_clock.getTimeMicroseconds()) * 0.000001f;
 
-	printf("%i time %i ms \n",m_steps_done,time);
+
 
 	m_clock.reset();
 	m_dynamicsWorld->stepSimulation(dt);
@@ -564,10 +696,10 @@ void GimpactConcaveDemo::keyboardCallback(unsigned char key, int x, int y)
 
 	case '2':
 		{
-			dts += 0.000001f; 
+			dts += 0.000001f;
 			break;
 		}
-	case '3': 
+	case '3':
 		{
 			dts -= 0.000001f; if(dts<0.000001f) dts = 0.000001f;
 			break;
@@ -586,7 +718,7 @@ void GimpactConcaveDemo::keyboardCallback(unsigned char key, int x, int y)
 
 	switch (key)
 	{
-	case 'q' : 
+	case 'q' :
 	case  KEY_ESCAPE   :
 		exit(0); break;
 

Demos/GimpactTestDemo/GimpactTestDemo.h

@@ -17,6 +17,30 @@ subject to the following restrictions:
 
 #include "DemoApplication.h"
 
+//#define BULLET_TRIANGLE_COLLISION 1
+#define BULLET_GIMPACT 1
+#define BULLET_GIMPACT_CONVEX_DECOMPOSITION 1
+
+#define TEST_GIMPACT_TORUS
+
+#ifdef BULLET_GIMPACT
+
+#include "GIMPACT/Bullet/btGImpactCollisionAlgorithm.h"
+	#ifdef BULLET_GIMPACT_CONVEX_DECOMPOSITION
+	#include "btGImpactConvexDecompositionShape.h"
+	#endif
+
+
+#else
+
+#include "btConcaveConcaveCollisionAlgorithm.h"
+#include "btGIMPACTMeshShape.h"
+
+#endif
+
+
+
+
 struct btCollisionAlgorithmCreateFunc;
 
 ///GimpactConcaveDemo shows usage of static concave triangle meshes
@@ -25,18 +49,18 @@ class GimpactConcaveDemo : public DemoApplication
 {
 
 public:
-	GimpactConcaveDemo() 
+	GimpactConcaveDemo()
-		: m_trimeshShape(NULL), 
+		: m_trimeshShape(NULL),
-		  m_trimeshShape2(NULL), 
+		  m_trimeshShape2(NULL),
 		  m_indexVertexArrays(NULL),
 		  m_indexVertexArrays2(NULL),
-		  m_collisionConfiguration(NULL), 
+		  m_collisionConfiguration(NULL),
-		  m_dispatcher(NULL), 
+		  m_dispatcher(NULL),
-		  m_broadphase(NULL), 
+		  m_broadphase(NULL),
 		  m_constraintSolver(NULL),
 		  m_gimpactCollisionCreateFunc(NULL),
 		  m_steps_done(0)
-	{  
+	{
 	}
 
 	virtual ~GimpactConcaveDemo()
@@ -51,7 +75,7 @@ public:
 
 		delete m_collisionConfiguration;
 		delete m_dispatcher;
-		delete m_broadphase; 
+		delete m_broadphase;
 		delete m_constraintSolver;
 
 		delete m_dynamicsWorld;
@@ -75,9 +99,18 @@ public:
 public: ///data
 	unsigned int			m_steps_done;
 
+#ifdef BULLET_GIMPACT
 	btCollisionShape			*m_trimeshShape;
 	btCollisionShape			*m_trimeshShape2;
+#else
 
+	btGIMPACTMeshData * m_trimeshShape;
+	btGIMPACTMeshData * m_trimeshShape2;
+
+	btCollisionShape * createTorusShape();
+	btCollisionShape * createBunnyShape();
+
+#endif
 
 	btTriangleIndexVertexArray  *m_indexVertexArrays;
 	btTriangleIndexVertexArray  *m_indexVertexArrays2;