87df3d0f32
Some dynamic memory allocations have been replace by pool allocation or stack allocations. quantized aabb versus quantized aabb overlap check is made branch-free (helps a lot on consoles PS3/XBox 360) Collision algorithms are now created through a new btDefaultCollisionConfiguration, to decouple dependency (this is the API change): Example: btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration(); m_dispatcher = new btCollisionDispatcher(collisionConfiguration);
276 lines
7.5 KiB
C++
276 lines
7.5 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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//#define USE_GROUND_BOX 1
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//#define PRINT_CONTACT_STATISTICS 1
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//#define CHECK_MEMORY_LEAKS 1
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//#define USE_PARALLEL_DISPATCHER 1
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//#define USE_SIMPLE_DYNAMICS_WORLD 1
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int gNumObjects = 120;
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#define HALF_EXTENTS btScalar(1.)
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#include "btBulletDynamicsCommon.h"
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#include "BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h"
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#include "LinearMath/btIDebugDraw.h"
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#include "GLDebugDrawer.h"
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#include <stdio.h> //printf debugging
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btScalar deltaTime = btScalar(1./60.);
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btScalar gCollisionMargin = btScalar(0.05);
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#include "BasicDemo.h"
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#include "GL_ShapeDrawer.h"
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#include "GlutStuff.h"
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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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#include <LinearMath/btAlignedObjectArray.h>
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////////////////////////////////////
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GLDebugDrawer debugDrawer;
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class myTest
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{
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};
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int main(int argc,char** argv)
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{
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BasicDemo ccdDemo;
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ccdDemo.initPhysics();
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ccdDemo.setCameraDistance(btScalar(50.));
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#ifdef CHECK_MEMORY_LEAKS
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ccdDemo.exitPhysics();
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#else
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return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bullet.sf.net",&ccdDemo);
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#endif
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//default glut doesn't return from mainloop
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return 0;
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}
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extern int gNumManifold;
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extern int gOverlappingPairs;
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extern int gTotalContactPoints;
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void BasicDemo::clientMoveAndDisplay()
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{
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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//simple dynamics world doesn't handle fixed-time-stepping
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float ms = m_clock.getTimeMicroseconds();
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m_clock.reset();
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float minFPS = 1000000.f/60.f;
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if (ms > minFPS)
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ms = minFPS;
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if (m_dynamicsWorld)
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m_dynamicsWorld->stepSimulation(ms / 1000000.f);
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renderme();
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glFlush();
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//some additional debugging info
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#ifdef PRINT_CONTACT_STATISTICS
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printf("num manifolds: %i\n",gNumManifold);
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printf("num gOverlappingPairs: %i\n",gOverlappingPairs);
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printf("num gTotalContactPoints : %i\n",gTotalContactPoints );
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#endif //PRINT_CONTACT_STATISTICS
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gTotalContactPoints = 0;
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glutSwapBuffers();
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}
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void BasicDemo::displayCallback(void) {
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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if (m_dynamicsWorld)
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m_dynamicsWorld->updateAabbs();
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renderme();
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glFlush();
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glutSwapBuffers();
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}
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void BasicDemo::initPhysics()
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{
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btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
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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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m_dispatcher = new SpuGatheringCollisionDispatcher(threadSupport,maxNumOutstandingTasks,collisionConfiguration);
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#else
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m_dispatcher = new btCollisionDispatcher(collisionConfiguration);
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#endif //USE_PARALLEL_DISPATCHER
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#define USE_SWEEP_AND_PRUNE 1
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#ifdef USE_SWEEP_AND_PRUNE
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#define maxProxies 8192
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btVector3 worldAabbMin(-10000,-10000,-10000);
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btVector3 worldAabbMax(10000,10000,10000);
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//m_overlappingPairCache = new btAxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
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m_overlappingPairCache = new btMultiSapBroadphase();
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#else
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m_overlappingPairCache = new btSimpleBroadphase;
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#endif //USE_SWEEP_AND_PRUNE
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btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
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m_solver = sol;
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#ifdef USE_SIMPLE_DYNAMICS_WORLD
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//btSimpleDynamicsWorld doesn't support 'cache friendly' optimization, so disable this
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sol->setSolverMode(btSequentialImpulseConstraintSolver::SOLVER_RANDMIZE_ORDER);
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m_dynamicsWorld = new btSimpleDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_solver);
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#else
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m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_solver);
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#endif //USE_SIMPLE_DYNAMICS_WORLD
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m_dynamicsWorld->getDispatchInfo().m_enableSPU = true;
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m_dynamicsWorld->setGravity(btVector3(0,-10,0));
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m_dynamicsWorld->setDebugDrawer(&debugDrawer);
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///create a few basic rigid bodies
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//static ground
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#ifdef USE_GROUND_BOX
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btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
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#else
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btCollisionShape* groundShape = new btSphereShape(btScalar(50.));
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#endif//USE_GROUND_BOX
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m_collisionShapes.push_back(groundShape);
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btTransform groundTransform;
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groundTransform.setIdentity();
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groundTransform.setOrigin(btVector3(0,-50,0));
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localCreateRigidBody(btScalar(0.),groundTransform,groundShape);
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//create a few dynamic sphere rigidbodies (re-using the same sphere shape)
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//btCollisionShape* sphereShape = new btBoxShape(btVector3(1,1,1));
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btCollisionShape* sphereShape = new btSphereShape(btScalar(1.));
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m_collisionShapes.push_back(sphereShape);
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int i;
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for (i=0;i<gNumObjects;i++)
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{
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sphereShape->setMargin(gCollisionMargin);
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btTransform trans;
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trans.setIdentity();
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//stack them
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int colsize = 2;
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int row = (int)((i*HALF_EXTENTS*2)/(colsize*2*HALF_EXTENTS));
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int row2 = row;
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int col = (i)%(colsize)-colsize/2;
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btVector3 pos(col*2*HALF_EXTENTS + (row2%2)*HALF_EXTENTS,
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row*2*HALF_EXTENTS+HALF_EXTENTS,0);
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trans.setOrigin(pos);
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//btRigidBody* body = localCreateRigidBody(btScalar(1.),trans,sphereShape);
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localCreateRigidBody(btScalar(1.),trans,sphereShape);
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}
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clientResetScene();
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}
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void BasicDemo::exitPhysics()
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{
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//cleanup in the reverse order of creation/initialization
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//remove the rigidbodies from the dynamics world and delete them
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int i;
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for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
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{
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btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
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m_dynamicsWorld->removeCollisionObject( obj );
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delete obj;
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}
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//delete collision shapes
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for (int j=0;j<m_collisionShapes.size();j++)
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{
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btCollisionShape* shape = m_collisionShapes[j];
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delete shape;
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}
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//delete dynamics world
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delete m_dynamicsWorld;
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//delete solver
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delete m_solver;
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//delete broadphase
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delete m_overlappingPairCache;
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//delete dispatcher
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delete m_dispatcher;
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}
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