bullet3/Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp

/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/

This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose, 
including commercial applications, and to alter it and redistribute it freely, 
subject to the following restrictions:

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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/

//enable just one, DO_BENCHMARK_PYRAMIDS or DO_WALL
//#define DO_BENCHMARK_PYRAMIDS 1
#define DO_WALL 1

//Note: some of those settings need 'DO_WALL' demo
//#define USE_KINEMATIC_GROUND 1
//#define PRINT_CONTACT_STATISTICS 1
//#define REGISTER_CUSTOM_COLLISION_ALGORITHM 1
//#define REGISTER_BOX_BOX 1 //needs to be used in combination with REGISTER_CUSTOM_COLLISION_ALGORITHM
//#define USER_DEFINED_FRICTION_MODEL 1
//#define USE_CUSTOM_NEAR_CALLBACK 1
//#define CENTER_OF_MASS_SHIFT 1

//#define USE_PARALLEL_SOLVER 1 //experimental parallel solver
//#define USE_PARALLEL_DISPATCHER 1

//following define allows to compare/replace Bullet's constraint solver with ODE quickstep
//this define requires to either add the libquickstep library (win32, see msvc/8/libquickstep.vcproj) or manually add the files from Extras/quickstep
//#define COMPARE_WITH_QUICKSTEP 1


#include "btBulletDynamicsCommon.h"
#include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h"
#ifdef REGISTER_BOX_BOX
#include "../Extras/AlternativeCollisionAlgorithms/BoxBoxCollisionAlgorithm.h"
#endif //REGISTER_BOX_BOX
#include "BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h"

#ifdef USE_PARALLEL_DISPATCHER
#include "../../Extras/BulletMultiThreaded/SpuGatheringCollisionDispatcher.h"
#ifdef WIN32
#include "../../Extras/BulletMultiThreaded/Win32ThreadSupport.h"
#include "../../Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h"
#endif //WIN32

#ifdef USE_LIBSPE2
#include "../../Extras/BulletMultiThreaded/SpuLibspe2Support.h"
#endif //USE_LIBSPE2

#ifdef USE_PARALLEL_SOLVER
#include "../../Extras/BulletMultiThreaded/SpuParallelSolver.h"
#include "../../Extras/BulletMultiThreaded/SpuSolverTask/SpuParallellSolverTask.h"
#endif //USE_PARALLEL_SOLVER

#endif//USE_PARALLEL_DISPATCHER


#ifdef COMPARE_WITH_QUICKSTEP
#include "../Extras/quickstep/OdeConstraintSolver.h"
#endif //COMPARE_WITH_QUICKSTEP

#include "LinearMath/btQuickprof.h"
#include "LinearMath/btIDebugDraw.h"
#include "GLDebugDrawer.h"

#include "BMF_Api.h"
#include <stdio.h> //printf debugging

float deltaTime = 1.f/60.f;
float	gCollisionMargin = 0.05f;
#include "CcdPhysicsDemo.h"
#include "GL_ShapeDrawer.h"

#include "GlutStuff.h"

btTransform comOffset;
btVector3 comOffsetVec(0,2,0);

extern float eye[3];
extern int glutScreenWidth;
extern int glutScreenHeight;

const int maxProxies = 32766;
const int maxOverlap = 65535;

bool createConstraint = true;//false;
#ifdef CENTER_OF_MASS_SHIFT
bool useCompound = true;
#else
bool useCompound = false;
#endif



#ifdef _DEBUG
const int gNumObjects = 120;
#else
const int gNumObjects = 120;//try this in release mode: 3000. never go above 16384, unless you increate maxNumObjects  value in DemoApplication.cp
#endif


const int maxNumObjects = 32760;

int	shapeIndex[maxNumObjects];


#define CUBE_HALF_EXTENTS 0.5

#define EXTRA_HEIGHT -10.f
//GL_LineSegmentShape shapeE(btPoint3(-50,0,0),
//						   btPoint3(50,0,0));
static const int numShapes = 4;

btCollisionShape* shapePtr[numShapes] = 
{
	///Please don't make the box sizes larger then 1000: the collision detection will be inaccurate.
	///See http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=346

//#define USE_GROUND_PLANE 1
#ifdef USE_GROUND_PLANE
	new btStaticPlaneShape(btVector3(0,1,0),0.5),
#else
	new btBoxShape (btVector3(200,CUBE_HALF_EXTENTS,200)),
#endif
		
#ifdef DO_BENCHMARK_PYRAMIDS
		new btBoxShape (btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)),
#else
		new btCylinderShape (btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)),
#endif

		//new btSphereShape (CUBE_HALF_EXTENTS),
		//new btCapsuleShape(0.5*CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS),
		//new btCylinderShape (btVector3(1-gCollisionMargin,CUBE_HALF_EXTENTS-gCollisionMargin,1-gCollisionMargin)),
		//new btConeShapeX(CUBE_HALF_EXTENTS,2.f*CUBE_HALF_EXTENTS),
		
		new btSphereShape (CUBE_HALF_EXTENTS),
		
		//new btBU_Simplex1to4(btPoint3(-1,-1,-1),btPoint3(1,-1,-1),btPoint3(-1,1,-1),btPoint3(0,0,1)),

		//new btEmptyShape(),

		new btBoxShape (btVector3(0.4,1,0.8))

};


void CcdPhysicsDemo::createStack( btCollisionShape* boxShape, float halfCubeSize, int size, float zPos )
{
	btTransform trans;
	trans.setIdentity();

	for(int i=0; i<size; i++)
	{
		// This constructs a row, from left to right
		int rowSize = size - i;
		for(int j=0; j< rowSize; j++)
		{
			btVector4 pos;
			pos.setValue(
				-rowSize * halfCubeSize + halfCubeSize + j * 2.0f * halfCubeSize,
				halfCubeSize + i * halfCubeSize * 2.0f,
				zPos);
			
			trans.setOrigin(pos);
			btScalar mass = 1.f;

			btRigidBody* body = 0;
			body = localCreateRigidBody(mass,trans,boxShape);
		}
	}
}


////////////////////////////////////



//by default, Bullet will use its own nearcallback, but you can override it using dispatcher->setNearCallback()
void customNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, btDispatcherInfo& dispatchInfo)
{
		btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
		btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;

		if (dispatcher.needsCollision(colObj0,colObj1))
		{
			//dispatcher will keep algorithms persistent in the collision pair
			if (!collisionPair.m_algorithm)
			{
				collisionPair.m_algorithm = dispatcher.findAlgorithm(colObj0,colObj1);
			}

			if (collisionPair.m_algorithm)
			{
				btManifoldResult contactPointResult(colObj0,colObj1);
				
				if (dispatchInfo.m_dispatchFunc == 		btDispatcherInfo::DISPATCH_DISCRETE)
				{
					//discrete collision detection query
					collisionPair.m_algorithm->processCollision(colObj0,colObj1,dispatchInfo,&contactPointResult);
				} else
				{
					//continuous collision detection query, time of impact (toi)
					float toi = collisionPair.m_algorithm->calculateTimeOfImpact(colObj0,colObj1,dispatchInfo,&contactPointResult);
					if (dispatchInfo.m_timeOfImpact > toi)
						dispatchInfo.m_timeOfImpact = toi;

				}
			}
		}

}





GLDebugDrawer debugDrawer;

//experimental jitter damping (1 = no damping, 0 = total damping once motion below threshold)
extern btScalar gJitterVelocityDampingFactor;

int main(int argc,char** argv)
{
	gJitterVelocityDampingFactor = 0.7;

	CcdPhysicsDemo* ccdDemo = new CcdPhysicsDemo();

	ccdDemo->initPhysics();

#ifdef DO_BENCHMARK_PYRAMIDS
	ccdDemo->setCameraDistance(26.f);
#endif

	return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bullet.sf.net",ccdDemo);
}



extern int gNumManifold;
extern int gOverlappingPairs;
extern int gTotalContactPoints;

void CcdPhysicsDemo::clientMoveAndDisplay()
{
	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 


#ifdef USE_KINEMATIC_GROUND
	//btQuaternion kinRotation(btVector3(0,0,1),0.);
	btVector3 kinTranslation(-0.01,0,0);
	//kinematic object
	btCollisionObject* colObj = m_dynamicsWorld->getCollisionObjectArray()[0];
	//is this a rigidbody with a motionstate? then use the motionstate to update positions!
	if (btRigidBody::upcast(colObj) && btRigidBody::upcast(colObj)->getMotionState())
	{
		btTransform newTrans;
		btRigidBody::upcast(colObj)->getMotionState()->getWorldTransform(newTrans);
		newTrans.getOrigin()+=kinTranslation;
		btRigidBody::upcast(colObj)->getMotionState()->setWorldTransform(newTrans);
	} else
	{
		m_dynamicsWorld->getCollisionObjectArray()[0]->getWorldTransform().getOrigin() += kinTranslation;
	}

#endif //USE_KINEMATIC_GROUND


	float dt = m_clock.getTimeMicroseconds() * 0.000001f;
	m_clock.reset();
//	printf("dt = %f: ",dt);
	
	if (m_dynamicsWorld)
	{

		//swap solver
#ifdef COMPARE_WITH_QUICKSTEP
	  m_dynamicsWorld->setConstraintSolver( new OdeConstraintSolver());
#endif //COMPARE_WITH_QUICKSTEP

//#define FIXED_STEP 1
#ifdef FIXED_STEP
  		m_dynamicsWorld->stepSimulation(1.0f/60.f,0);
	
#else
		//during idle mode, just run 1 simulation step maximum
		int maxSimSubSteps = m_idle ? 1 : 1;
		if (m_idle)
			dt = 1.0/420.f;

		int numSimSteps = 0;
		numSimSteps = m_dynamicsWorld->stepSimulation(dt,maxSimSubSteps);
		/*
		if (!numSimSteps)
			printf("Interpolated transforms\n");
		else
		{
			if (numSimSteps > maxSimSubSteps)
			{
				//detect dropping frames
				printf("Dropped (%i) simulation steps out of %i\n",numSimSteps - maxSimSubSteps,numSimSteps);
			} else
			{
				printf("Simulated (%i) steps\n",numSimSteps);
			}
		}
		*/

#endif
	}
	
#ifdef USE_QUICKPROF 
        btProfiler::beginBlock("render"); 
#endif //USE_QUICKPROF 
	
	renderme(); 


	//render the graphics objects, with center of mass shift

		updateCamera();



#ifdef USE_QUICKPROF 
        btProfiler::endBlock("render"); 
#endif 
	glFlush();
	//some additional debugging info
#ifdef PRINT_CONTACT_STATISTICS
	printf("num manifolds: %i\n",gNumManifold);
	printf("num gOverlappingPairs: %i\n",gOverlappingPairs);
	printf("num gTotalContactPoints : %i\n",gTotalContactPoints );
#endif //PRINT_CONTACT_STATISTICS

	gTotalContactPoints = 0;
	glutSwapBuffers();

}



void CcdPhysicsDemo::displayCallback(void) {

	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 

	m_dynamicsWorld->updateAabbs();

	
	renderme();

	glFlush();
	glutSwapBuffers();
}





///User-defined friction model, the most simple friction model available: no friction
float myFrictionModel(	btRigidBody& body1,	btRigidBody& body2,	btManifoldPoint& contactPoint,	const btContactSolverInfo& solverInfo	)
{
	//don't do any friction
	return 0.f;
}

void	CcdPhysicsDemo::initPhysics()
{
#ifdef DO_BENCHMARK_PYRAMIDS
	m_azi = 90.f;
#endif //DO_BENCHMARK_PYRAMIDS

	btCollisionDispatcher* dispatcher=0;
	btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
	
#ifdef USE_PARALLEL_DISPATCHER
int maxNumOutstandingTasks = 4;

#ifdef USE_WIN32_THREADING

	Win32ThreadSupport* threadSupportCollision = new Win32ThreadSupport(Win32ThreadSupport::Win32ThreadConstructionInfo(
								"collision",
								processCollisionTask,
								createCollisionLocalStoreMemory,
								maxNumOutstandingTasks));
#else

#ifdef USE_LIBSPE2

   spe_program_handle_t * program_handle;
#ifndef USE_CESOF
                        program_handle = spe_image_open ("./spuCollision.elf");
                        if (program_handle == NULL)
                    {
                                perror( "SPU OPEN IMAGE ERROR\n");
                    }
                        else
                        {
                                printf( "IMAGE OPENED\n");
                        }
#else
                        extern spe_program_handle_t spu_program;
                        program_handle = &spu_program;
#endif
        SpuLibspe2Support* threadSupportCollision  = new SpuLibspe2Support( program_handle, maxNumOutstandingTasks);
#endif //USE_LIBSPE2

///Playstation 3 SPU (SPURS)  version is available through PS3 Devnet
/// For Unix/Mac someone could implement a pthreads version of btThreadSupportInterface?
///you can hook it up to your custom task scheduler by deriving from btThreadSupportInterface
#endif


	dispatcher = new	SpuGatheringCollisionDispatcher(threadSupportCollision,maxNumOutstandingTasks,collisionConfiguration);
//	dispatcher = new	btCollisionDispatcher(collisionConfiguration);
#else
	
	dispatcher = new	btCollisionDispatcher(collisionConfiguration);
#endif //USE_PARALLEL_DISPATCHER

#ifdef USE_CUSTOM_NEAR_CALLBACK
	//this is optional
	dispatcher->setNearCallback(customNearCallback);
#endif

	btVector3 worldAabbMin(-1000,-1000,-1000);
	btVector3 worldAabbMax(1000,1000,1000);

	btBroadphaseInterface* broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
/// For large worlds or over 16384 objects, use the bt32BitAxisSweep3 broadphase
//	btBroadphaseInterface* broadphase = new bt32BitAxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
/// When trying to debug broadphase issues, try to use the btSimpleBroadphase
//	btBroadphaseInterface* broadphase = new btSimpleBroadphase;
	
#ifdef REGISTER_CUSTOM_COLLISION_ALGORITHM
	dispatcher->registerCollisionCreateFunc(SPHERE_SHAPE_PROXYTYPE,SPHERE_SHAPE_PROXYTYPE,new btSphereSphereCollisionAlgorithm::CreateFunc);
	//box-box is in Extras/AlternativeCollisionAlgorithms:it requires inclusion of those files
#ifdef REGISTER_BOX_BOX
	dispatcher->registerCollisionCreateFunc(BOX_SHAPE_PROXYTYPE,BOX_SHAPE_PROXYTYPE,new BoxBoxCollisionAlgorithm::CreateFunc);
#endif //REGISTER_BOX_BOX
	dispatcher->registerCollisionCreateFunc(SPHERE_SHAPE_PROXYTYPE,TRIANGLE_SHAPE_PROXYTYPE,new btSphereTriangleCollisionAlgorithm::CreateFunc);
	btSphereTriangleCollisionAlgorithm::CreateFunc* triangleSphereCF = new btSphereTriangleCollisionAlgorithm::CreateFunc;
	triangleSphereCF->m_swapped = true;
	dispatcher->registerCollisionCreateFunc(TRIANGLE_SHAPE_PROXYTYPE,SPHERE_SHAPE_PROXYTYPE,triangleSphereCF);
#endif //REGISTER_CUSTOM_COLLISION_ALGORITHM

#ifdef COMPARE_WITH_QUICKSTEP
	btConstraintSolver* solver = new OdeConstraintSolver();
#else

	
#ifdef USE_PARALLEL_SOLVER

	Win32ThreadSupport* threadSupportSolver = new Win32ThreadSupport(Win32ThreadSupport::Win32ThreadConstructionInfo(
								"solver",
								processSolverTask,
								createSolverLocalStoreMemory,
								maxNumOutstandingTasks));

	btConstraintSolver* solver = new btParallelSequentialImpulseSolver(threadSupportSolver,maxNumOutstandingTasks);
#else
	btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver;
	//default solverMode is SOLVER_RANDMIZE_ORDER. Warmstarting seems not to improve convergence, see 
	//solver->setSolverMode(btSequentialImpulseConstraintSolver::SOLVER_USE_WARMSTARTING | btSequentialImpulseConstraintSolver::SOLVER_RANDMIZE_ORDER);
	
#endif //USE_PARALLEL_SOLVER

#endif
		
#ifdef	USER_DEFINED_FRICTION_MODEL
	//user defined friction model is not supported in 'cache friendly' solver yet, so switch to old solver
	solver->setSolverMode(btSequentialImpulseConstraintSolver::SOLVER_RANDMIZE_ORDER);
#endif //USER_DEFINED_FRICTION_MODEL

		btDiscreteDynamicsWorld* world = new btDiscreteDynamicsWorld(dispatcher,broadphase,solver,collisionConfiguration);
		m_dynamicsWorld = world;

#ifdef DO_BENCHMARK_PYRAMIDS
		world->getSolverInfo().m_numIterations = 4;
#endif //DO_BENCHMARK_PYRAMIDS

		m_dynamicsWorld->getDispatchInfo().m_enableSPU = true;
		m_dynamicsWorld->setGravity(btVector3(0,-10,0));

		m_dynamicsWorld->setDebugDrawer(&debugDrawer);
		

#ifdef USER_DEFINED_FRICTION_MODEL
	{
		//solver->setContactSolverFunc(ContactSolverFunc func,USER_CONTACT_SOLVER_TYPE1,DEFAULT_CONTACT_SOLVER_TYPE);
		solver->SetFrictionSolverFunc(myFrictionModel,USER_CONTACT_SOLVER_TYPE1,DEFAULT_CONTACT_SOLVER_TYPE);
		solver->SetFrictionSolverFunc(myFrictionModel,DEFAULT_CONTACT_SOLVER_TYPE,USER_CONTACT_SOLVER_TYPE1);
		solver->SetFrictionSolverFunc(myFrictionModel,USER_CONTACT_SOLVER_TYPE1,USER_CONTACT_SOLVER_TYPE1);
		//m_physicsEnvironmentPtr->setNumIterations(2);
	}
#endif //USER_DEFINED_FRICTION_MODEL



	int i;

	btTransform tr;
	tr.setIdentity();

	
	for (i=0;i<gNumObjects;i++)
	{
		if (i>0)
		{
			shapeIndex[i] = 1;//sphere
		}
		else
			shapeIndex[i] = 0;
	}

	if (useCompound)
	{
		btCompoundShape* compoundShape = new btCompoundShape();
		btCollisionShape* oldShape = shapePtr[1];
		shapePtr[1] = compoundShape;
		btVector3 sphereOffset(0,0,2);

		comOffset.setIdentity();

#ifdef CENTER_OF_MASS_SHIFT
		comOffset.setOrigin(comOffsetVec);
		compoundShape->addChildShape(comOffset,oldShape);

#else
		compoundShape->addChildShape(tr,oldShape);
		tr.setOrigin(sphereOffset);
		compoundShape->addChildShape(tr,new btSphereShape(0.9));
#endif
	}

#ifdef DO_WALL

	for (i=0;i<gNumObjects;i++)
	{
		btCollisionShape* shape = shapePtr[shapeIndex[i]];
		shape->setMargin(gCollisionMargin);

		bool isDyna = i>0;

		btTransform trans;
		trans.setIdentity();
		
		if (i>0)
		{
			//stack them
			int colsize = 10;
			int row = (i*CUBE_HALF_EXTENTS*2)/(colsize*2*CUBE_HALF_EXTENTS);
			int row2 = row;
			int col = (i)%(colsize)-colsize/2;


			if (col>3)
			{
				col=11;
				row2 |=1;
			}

			btVector3 pos(col*2*CUBE_HALF_EXTENTS + (row2%2)*CUBE_HALF_EXTENTS,
				row*2*CUBE_HALF_EXTENTS+CUBE_HALF_EXTENTS+EXTRA_HEIGHT,0);

			trans.setOrigin(pos);
		} else
		{
			trans.setOrigin(btVector3(0,EXTRA_HEIGHT-CUBE_HALF_EXTENTS,0));
		}

		float mass = 1.f;

		if (!isDyna)
			mass = 0.f;
	
		btRigidBody* body = localCreateRigidBody(mass,trans,shape);
#ifdef USE_KINEMATIC_GROUND
		if (mass == 0.f)
		{
			body->setCollisionFlags( body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
			body->setActivationState(DISABLE_DEACTIVATION);
		}
#endif //USE_KINEMATIC_GROUND
		
		
		// Only do CCD if  motion in one timestep (1.f/60.f) exceeds CUBE_HALF_EXTENTS
		body->setCcdSquareMotionThreshold( CUBE_HALF_EXTENTS );
		
		//Experimental: better estimation of CCD Time of Impact:
		body->setCcdSweptSphereRadius( 0.2*CUBE_HALF_EXTENTS );

#ifdef USER_DEFINED_FRICTION_MODEL	
		///Advanced use: override the friction solver
		body->m_frictionSolverType = USER_CONTACT_SOLVER_TYPE1;
#endif //USER_DEFINED_FRICTION_MODEL

	}
#endif


#ifdef DO_BENCHMARK_PYRAMIDS
	btTransform trans;
	trans.setIdentity();
	
	btScalar halfExtents = CUBE_HALF_EXTENTS;

	trans.setOrigin(btVector3(0,-halfExtents,0));



	localCreateRigidBody(0.f,trans,shapePtr[shapeIndex[0]]);

	int numWalls = 15;
	int wallHeight = 15;
	float wallDistance = 3;


	for (int i=0;i<numWalls;i++)
	{
		float zPos = (i-numWalls/2) * wallDistance;
		createStack(shapePtr[shapeIndex[1]],halfExtents,wallHeight,zPos);
	}
//	createStack(shapePtr[shapeIndex[1]],halfExtends,20,10);

//	createStack(shapePtr[shapeIndex[1]],halfExtends,20,20);
#define DESTROYER_BALL 1
#ifdef DESTROYER_BALL
	btTransform sphereTrans;
	sphereTrans.setIdentity();
	sphereTrans.setOrigin(btVector3(0,2,40));
	btSphereShape* ball = new btSphereShape(2.f);
	btRigidBody* ballBody = localCreateRigidBody(10000.f,sphereTrans,ball);
	ballBody->setLinearVelocity(btVector3(0,0,-10));
#endif 
#endif //DO_BENCHMARK_PYRAMIDS
//	clientResetScene();


}