1f7646f72a
This was already planned, and Pierre Terdiman recent thread motivated me to decouple the paircache from the sweep and prune. http://continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1329
305 lines
8.5 KiB
C++
305 lines
8.5 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "btBulletDynamicsCommon.h"
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#include "LinearMath/btIDebugDraw.h"
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#include "GLDebugDrawer.h"
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#include "ConcaveDemo.h"
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#include "GL_ShapeDrawer.h"
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#include "GlutStuff.h"
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//#define USE_PARALLEL_DISPATCHER 1
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#ifdef USE_PARALLEL_DISPATCHER
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#include "../../Extras/BulletMultiThreaded/SpuGatheringCollisionDispatcher.h"
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#include "../../Extras/BulletMultiThreaded/Win32ThreadSupport.h"
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#include "../../Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h"
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#endif//USE_PARALLEL_DISPATCHER
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GLDebugDrawer debugDrawer;
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class btIDebugDraw* debugDrawerPtr=0;
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btVector3* gVertices=0;
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int* gIndices=0;
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btBvhTriangleMeshShape* trimeshShape =0;
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btRigidBody* staticBody = 0;
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static float waveheight = 5.f;
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const float TRIANGLE_SIZE=8.f;
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///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback;
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inline btScalar calculateCombinedFriction(float friction0,float friction1)
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{
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btScalar friction = friction0 * friction1;
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const btScalar MAX_FRICTION = 10.f;
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if (friction < -MAX_FRICTION)
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friction = -MAX_FRICTION;
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if (friction > MAX_FRICTION)
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friction = MAX_FRICTION;
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return friction;
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}
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inline btScalar calculateCombinedRestitution(float restitution0,float restitution1)
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{
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return restitution0 * restitution1;
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}
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bool CustomMaterialCombinerCallback(btManifoldPoint& cp, const btCollisionObject* colObj0,int partId0,int index0,const btCollisionObject* colObj1,int partId1,int index1)
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{
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float friction0 = colObj0->getFriction();
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float friction1 = colObj1->getFriction();
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float restitution0 = colObj0->getRestitution();
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float restitution1 = colObj1->getRestitution();
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if (colObj0->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)
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{
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friction0 = 1.0;//partId0,index0
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restitution0 = 0.f;
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}
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if (colObj1->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)
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{
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if (index1&1)
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{
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friction1 = 1.0f;//partId1,index1
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} else
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{
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friction1 = 0.f;
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}
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restitution1 = 0.f;
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}
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cp.m_combinedFriction = calculateCombinedFriction(friction0,friction1);
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cp.m_combinedRestitution = calculateCombinedRestitution(restitution0,restitution1);
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//this return value is currently ignored, but to be on the safe side: return false if you don't calculate friction
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return true;
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}
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extern ContactAddedCallback gContactAddedCallback;
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int main(int argc,char** argv)
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{
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gContactAddedCallback = CustomMaterialCombinerCallback;
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ConcaveDemo* concaveDemo = new ConcaveDemo();
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concaveDemo->initPhysics();
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concaveDemo->setCameraDistance(30.f);
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return glutmain(argc, argv,640,480,"Static Concave Mesh Demo",concaveDemo);
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}
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const int NUM_VERTS_X = 50;
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const int NUM_VERTS_Y = 50;
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const int totalVerts = NUM_VERTS_X*NUM_VERTS_Y;
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void ConcaveDemo::setVertexPositions(float waveheight, float offset)
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{
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int i;
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int j;
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for ( i=0;i<NUM_VERTS_X;i++)
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{
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for (j=0;j<NUM_VERTS_Y;j++)
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{
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gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
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//0.f,
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waveheight*sinf((float)i+offset)*cosf((float)j+offset),
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(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
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}
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}
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}
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void ConcaveDemo::keyboardCallback(unsigned char key, int x, int y)
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{
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if (key == 'g')
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{
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m_animatedMesh = !m_animatedMesh;
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if (m_animatedMesh)
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{
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staticBody->setCollisionFlags( staticBody->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
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staticBody->setActivationState(DISABLE_DEACTIVATION);
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} else
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{
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staticBody->setCollisionFlags( staticBody->getCollisionFlags() & ~btCollisionObject::CF_KINEMATIC_OBJECT);
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staticBody->forceActivationState(ACTIVE_TAG);
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}
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}
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DemoApplication::keyboardCallback(key,x,y);
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}
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void ConcaveDemo::initPhysics()
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{
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#define TRISIZE 10.f
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int vertStride = sizeof(btVector3);
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int indexStride = 3*sizeof(int);
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const int totalTriangles = 2*(NUM_VERTS_X-1)*(NUM_VERTS_Y-1);
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gVertices = new btVector3[totalVerts];
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gIndices = new int[totalTriangles*3];
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int i;
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setVertexPositions(waveheight,0.f);
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int index=0;
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for ( i=0;i<NUM_VERTS_X-1;i++)
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{
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for (int j=0;j<NUM_VERTS_Y-1;j++)
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{
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gIndices[index++] = j*NUM_VERTS_X+i;
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gIndices[index++] = j*NUM_VERTS_X+i+1;
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gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
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gIndices[index++] = j*NUM_VERTS_X+i;
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gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
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gIndices[index++] = (j+1)*NUM_VERTS_X+i;
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}
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}
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btTriangleIndexVertexArray* indexVertexArrays = new btTriangleIndexVertexArray(totalTriangles,
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gIndices,
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indexStride,
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totalVerts,(btScalar*) &gVertices[0].x(),vertStride);
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bool useQuantizedAabbCompression = true;
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trimeshShape = new btBvhTriangleMeshShape(indexVertexArrays,useQuantizedAabbCompression);
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// btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50));
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#ifdef USE_PARALLEL_DISPATCHER
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#ifdef USE_WIN32_THREADING
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int maxNumOutstandingTasks = 4;//number of maximum outstanding tasks
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Win32ThreadSupport* threadSupport = new Win32ThreadSupport(Win32ThreadSupport::Win32ThreadConstructionInfo(
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"collision",
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processCollisionTask,
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createCollisionLocalStoreMemory,
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maxNumOutstandingTasks));
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#else
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///todo other platform threading
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///Playstation 3 SPU (SPURS) version is available through PS3 Devnet
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///Libspe2 SPU support will be available soon
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///pthreads version
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///you can hook it up to your custom task scheduler by deriving from btThreadSupportInterface
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#endif
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btCollisionDispatcher* dispatcher = new SpuGatheringCollisionDispatcher(threadSupport,maxNumOutstandingTasks);
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#else
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btCollisionDispatcher* dispatcher = new btCollisionDispatcher();
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#endif//USE_PARALLEL_DISPATCHER
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btVector3 worldMin(-1000,-1000,-1000);
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btVector3 worldMax(1000,1000,1000);
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btBroadphaseInterface* pairCache = new btAxisSweep3(worldMin,worldMax);
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btConstraintSolver* constraintSolver = new btSequentialImpulseConstraintSolver();
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m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver);
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#ifdef USE_PARALLEL_DISPATCHER
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m_dynamicsWorld->getDispatchInfo().m_enableSPU=true;
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#endif //USE_PARALLEL_DISPATCHER
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m_dynamicsWorld->setDebugDrawer(&debugDrawer);
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debugDrawerPtr = &debugDrawer;
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float mass = 0.f;
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btTransform startTransform;
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startTransform.setIdentity();
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startTransform.setOrigin(btVector3(0,-2,0));
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{
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for (int i=0;i<10;i++)
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{
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btCollisionShape* boxShape = new btBoxShape(btVector3(1,1,1));
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//btCollisionShape* boxShape = new btSphereShape(1.f);
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startTransform.setOrigin(btVector3(2*i,10,1));
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localCreateRigidBody(1, startTransform,boxShape);
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}
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}
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startTransform.setIdentity();
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staticBody = localCreateRigidBody(mass, startTransform,trimeshShape);
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staticBody->setCollisionFlags(staticBody->getCollisionFlags() | btCollisionObject::CF_STATIC_OBJECT);
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//enable custom material callback
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staticBody->setCollisionFlags(staticBody->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
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}
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void ConcaveDemo::clientMoveAndDisplay()
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{
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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float dt = m_clock.getTimeMicroseconds() * 0.000001f;
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m_clock.reset();
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if (m_animatedMesh)
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{
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static float offset=0.f;
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offset+=0.01f;
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setVertexPositions(waveheight,offset);
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trimeshShape->refitTree();
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//clear all contact points involving mesh proxy. Note: this is a slow/unoptimized operation.
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m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(staticBody->getBroadphaseHandle());
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}
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m_dynamicsWorld->stepSimulation(dt);
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renderme();
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glFlush();
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glutSwapBuffers();
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}
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void ConcaveDemo::displayCallback(void) {
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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renderme();
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glFlush();
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glutSwapBuffers();
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}
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