mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-13 21:30:09 +00:00
Simplify the parameter interface for NNWalkers. Keys 1-9 cause speedup.
This commit is contained in:
Benelot
parent
f0f694145d
commit
7cf4a2352c
@ -16,8 +16,6 @@
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#ifndef COMMON_TIME_WARP_BASE_H
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#define COMMON_TIME_WARP_BASE_H
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#include <string>
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#include "btBulletDynamicsCommon.h"
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#include "LinearMath/btVector3.h"
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#include "LinearMath/btAlignedObjectArray.h"
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@ -25,14 +23,16 @@
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#include "../CommonInterfaces/CommonRigidBodyBase.h"
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#include "../CommonInterfaces/CommonParameterInterface.h"
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#include <BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h>
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#include <BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.h>
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#include <BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h>
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#include <BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h>
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#include <BulletDynamics/MLCPSolvers/btDantzigSolver.h>
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#include <BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h>
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#include <BulletDynamics/MLCPSolvers/btLemkeSolver.h>
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#include <BulletDynamics/MLCPSolvers/btMLCPSolver.h>
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//Solvers
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#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
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#include "BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.h"
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#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
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#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
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#include "BulletDynamics/MLCPSolvers/btDantzigSolver.h"
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#include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h"
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#include "BulletDynamics/MLCPSolvers/btLemkeSolver.h"
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#include "BulletDynamics/MLCPSolvers/btMLCPSolver.h"
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#include "../Utils/b3ERPCFMHelper.hpp" // ERP/CFM setting utils
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@ -55,19 +55,20 @@ static double /**/NUM_SPEEDS = 11;
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};
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// add speeds from the namespace here
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static double speeds[] = { SimulationSpeeds::PAUSE,
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SimulationSpeeds::QUARTER_SPEED, SimulationSpeeds::HALF_SPEED,
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SimulationSpeeds::NORMAL_SPEED, SimulationSpeeds::DOUBLE_SPEED,
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SimulationSpeeds::QUADRUPLE_SPEED, SimulationSpeeds::DECUPLE_SPEED,
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SimulationSpeeds::CENTUPLE_SPEED,SimulationSpeeds::QUINCENTUPLE_SPEED,
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SimulationSpeeds::MILLITUPLE_SPEED};
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static double speeds[] = {
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SimulationSpeeds::PAUSE,
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SimulationSpeeds::QUARTER_SPEED, SimulationSpeeds::HALF_SPEED,
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SimulationSpeeds::NORMAL_SPEED, SimulationSpeeds::DOUBLE_SPEED,
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SimulationSpeeds::QUADRUPLE_SPEED, SimulationSpeeds::DECUPLE_SPEED,
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SimulationSpeeds::CENTUPLE_SPEED, SimulationSpeeds::QUINCENTUPLE_SPEED,
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SimulationSpeeds::MILLITUPLE_SPEED};
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static btScalar gSolverIterations = 10; // default number of solver iterations for the iterative solvers
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static bool gChangeErpCfm = false;
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static bool gIsHeadless = false; // demo runs with graphics by default
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static bool gChangeErpCfm = false; // flag to make recalculation of ERP/CFM
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static int gMinSpeed = SimulationSpeeds::PAUSE; // the minimum simulation speed
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static int gMaxSpeed = SimulationSpeeds::MAX_SPEED; // the maximum simulation speed
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@ -93,7 +94,7 @@ enum SolverEnumType {
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};
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//TODO: In case the solver should be changeable by drop down menu
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// solvers can be changed by drop down menu
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namespace SolverType {
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static char SEQUENTIALIMPULSESOLVER[] = "Sequential Impulse Solver";
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static char GAUSSSEIDELSOLVER[] = "Gauss-Seidel Solver";
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@ -157,11 +158,11 @@ inline void changeSolver(int comboboxId, const char* item, void* userPointer) {
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for(int i = 0; i < NUM_SOLVERS;i++){
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if(strcmp(solverTypes[i], item) == 0){ // if the strings are equal
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SOLVER_TYPE = ((SolverEnumType)i);
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//b3Printf("=%s=\n Reset the simulation by double clicking it in the menu list.",item);
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b3Printf("=%s=\n Reset the simulation by double clicking it in the menu list.",item);
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return;
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}
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}
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//b3Printf("No Change");
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b3Printf("No Change");
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}
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@ -187,17 +188,16 @@ inline void clampToCustomSpeedNotches(float speed) { // function to clamp to cus
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inline void switchInterpolated(int buttonId, bool buttonState, void* userPointer){ // toggle if interpolation steps are taken
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gInterpolate=!gInterpolate;
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//b3Printf("Interpolate substeps %s", gInterpolate?"on":"off");
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// b3Printf("Interpolate substeps %s", gInterpolate?"on":"off");
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}
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inline void switchHeadless(int buttonId, bool buttonState, void* userPointer){ // toggle if the demo should run headless
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gIsHeadless=!gIsHeadless;
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//b3Printf("Run headless %s", gIsHeadless?"on":"off");
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// b3Printf("Run headless %s", gIsHeadless?"on":"off");
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}
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inline void switchMaximumSpeed(int buttonId, bool buttonState, void* userPointer){ // toggle it the demo should run as fast as possible
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gMaximumSpeed=!gMaximumSpeed;
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//b3Printf("Run maximum speed %s", gMaximumSpeed?"on":"off");
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// b3Printf("Run maximum speed %s", gMaximumSpeed?"on":"off");
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}
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inline void setApplicationTick(float frequency){ // set internal application tick
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@ -257,7 +257,7 @@ struct CommonTimeWarpBase: public CommonRigidBodyBase {
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void initPhysics(){ // initialize the demo
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setupParameterInterface(); // setup adjustable sliders and buttons for parameters
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setupBasicParamInterface(); // setup adjustable sliders and buttons for parameters
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m_guiHelper->setUpAxis(1); // Set Y axis as Up axis
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@ -266,25 +266,7 @@ struct CommonTimeWarpBase: public CommonRigidBodyBase {
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m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
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}
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void setupParameterInterface(){ // setup the adjustable sliders and button for parameters
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solverTypes[0] = SolverType::SEQUENTIALIMPULSESOLVER;
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solverTypes[1] = SolverType::GAUSSSEIDELSOLVER;
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solverTypes[2] = SolverType::NNCGSOLVER;
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solverTypes[3] = SolverType::DANZIGSOLVER;
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solverTypes[4] = SolverType::LEMKESOLVER;
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solverTypes[5] = SolverType::FSSOLVER;
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{
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ComboBoxParams comboParams;
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comboParams.m_comboboxId = 0;
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comboParams.m_numItems = NUM_SOLVERS;
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comboParams.m_startItem = SOLVER_TYPE;
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comboParams.m_callback = changeSolver;
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comboParams.m_items=solverTypes;
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m_guiHelper->getParameterInterface()->registerComboBox(comboParams);
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}
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void setupBasicParamInterface(){ // setup the adjustable sliders and button for parameters
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{ // create a slider to adjust the simulation speed
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// Force increase the simulation speed to run the simulation with the same accuracy but a higher speed
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@ -308,6 +290,50 @@ struct CommonTimeWarpBase: public CommonRigidBodyBase {
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button);
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}
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{ // create a button to switch to maximum speed simulation (fully deterministic)
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// Interesting to test the maximal achievable speed on this hardware
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ButtonParams button("Run maximum speed",0,true);
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button.m_callback = switchMaximumSpeed;
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if (m_guiHelper->getParameterInterface())
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m_guiHelper->getParameterInterface()->registerButtonParameter(
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button);
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}
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{ // create a button to switch bullet to perform interpolated substeps to speed up simulation
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// generally, interpolated steps are a good speed-up and should only be avoided if higher accuracy is needed (research purposes etc.)
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ButtonParams button("Perform interpolated substeps",0,true);
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button.m_callback = switchInterpolated;
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if (m_guiHelper->getParameterInterface())
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m_guiHelper->getParameterInterface()->registerButtonParameter(
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button);
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}
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}
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void setupAdvancedParamInterface(){
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solverTypes[0] = SolverType::SEQUENTIALIMPULSESOLVER;
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solverTypes[1] = SolverType::GAUSSSEIDELSOLVER;
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solverTypes[2] = SolverType::NNCGSOLVER;
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solverTypes[3] = SolverType::DANZIGSOLVER;
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solverTypes[4] = SolverType::LEMKESOLVER;
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solverTypes[5] = SolverType::FSSOLVER;
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{
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ComboBoxParams comboParams;
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comboParams.m_comboboxId = 0;
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comboParams.m_numItems = NUM_SOLVERS;
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comboParams.m_startItem = SOLVER_TYPE;
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comboParams.m_callback = changeSolver;
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comboParams.m_items=solverTypes;
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m_guiHelper->getParameterInterface()->registerComboBox(comboParams);
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}
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{ // create a slider to adjust the number of internal application ticks
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// The set application tick should contain enough time to perform a full cycle of model update (physics and input)
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// and view update (graphics) with average application load. The graphics and input update determine the remaining time
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@ -323,15 +349,6 @@ struct CommonTimeWarpBase: public CommonRigidBodyBase {
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slider);
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}
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{ // create a button to switch to maximum speed simulation (fully deterministic)
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// Interesting to test the maximal achievable speed on this hardware
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ButtonParams button("Run maximum speed",0,true);
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button.m_callback = switchMaximumSpeed;
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if (m_guiHelper->getParameterInterface())
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m_guiHelper->getParameterInterface()->registerButtonParameter(
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button);
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}
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{ // create a slider to adjust the number of physics steps per second
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// The default number of steps is at 60, which is appropriate for most general simulations
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// For simulations with higher complexity or if you experience undesired behavior, try increasing the number of steps per second
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@ -357,15 +374,6 @@ struct CommonTimeWarpBase: public CommonRigidBodyBase {
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slider);
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}
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{ // create a button to switch bullet to perform interpolated substeps to speed up simulation
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// generally, interpolated steps are a good speed-up and should only be avoided if higher accuracy is needed (research purposes etc.)
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ButtonParams button("Perform interpolated substeps",0,true);
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button.m_callback = switchInterpolated;
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if (m_guiHelper->getParameterInterface())
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m_guiHelper->getParameterInterface()->registerButtonParameter(
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button);
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}
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{ // create a slider to adjust the number of solver iterations to converge to a solution
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// more complex simulations might need a higher number of iterations to converge, it also
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// depends on the type of solver.
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@ -437,6 +445,8 @@ struct CommonTimeWarpBase: public CommonRigidBodyBase {
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
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slider);
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}
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}
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void createEmptyDynamicsWorld(){ // create an empty dynamics worlds according to the chosen settings via statics (top section of code)
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@ -454,35 +464,35 @@ struct CommonTimeWarpBase: public CommonRigidBodyBase {
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// different solvers require different settings
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switch (SOLVER_TYPE) {
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case SEQUENTIALIMPULSESOLVER: {
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//b3Printf("=%s=",SolverType::SEQUENTIALIMPULSESOLVER);
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// b3Printf("=%s=",SolverType::SEQUENTIALIMPULSESOLVER);
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m_solver = new btSequentialImpulseConstraintSolver();
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break;
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}
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case NNCGSOLVER: {
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//b3Printf("=%s=",SolverType::NNCGSOLVER);
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// b3Printf("=%s=",SolverType::NNCGSOLVER);
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m_solver = new btNNCGConstraintSolver();
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break;
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}
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case DANZIGSOLVER: {
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//b3Printf("=%s=",SolverType::DANZIGSOLVER);
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// b3Printf("=%s=",SolverType::DANZIGSOLVER);
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btDantzigSolver* mlcp = new btDantzigSolver();
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m_solver = new btMLCPSolver(mlcp);
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break;
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}
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case GAUSSSEIDELSOLVER: {
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//b3Printf("=%s=",SolverType::GAUSSSEIDELSOLVER);
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// b3Printf("=%s=",SolverType::GAUSSSEIDELSOLVER);
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btSolveProjectedGaussSeidel* mlcp = new btSolveProjectedGaussSeidel();
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m_solver = new btMLCPSolver(mlcp);
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break;
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}
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case LEMKESOLVER: {
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//b3Printf("=%s=",SolverType::LEMKESOLVER);
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// b3Printf("=%s=",SolverType::LEMKESOLVER);
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btLemkeSolver* mlcp = new btLemkeSolver();
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m_solver = new btMLCPSolver(mlcp);
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break;
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}
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case FSSOLVER: {
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//b3Printf("=%s=",SolverType::FSSOLVER);
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// b3Printf("=%s=",SolverType::FSSOLVER);
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//Use the btMultiBodyConstraintSolver for Featherstone btMultiBody support
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m_solver = new btMultiBodyConstraintSolver;
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@ -524,9 +534,9 @@ struct CommonTimeWarpBase: public CommonRigidBodyBase {
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// fixedPhysicsStepSizeSec, 10, 1);
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// m_dynamicsWorld->getSolverInfo().m_splitImpulseTurnErp =
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// BulletUtils::getERP(fixedPhysicsStepSizeSec, 10, 1);
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//b3Printf("Using split impulse feature with ERP/TurnERP: (%f,%f)",
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// m_dynamicsWorld->getSolverInfo().m_erp2,
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// m_dynamicsWorld->getSolverInfo().m_splitImpulseTurnErp);
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// b3Printf("Using split impulse feature with ERP/TurnERP: (%f,%f)",
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// m_dynamicsWorld->getSolverInfo().m_erp2,
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// m_dynamicsWorld->getSolverInfo().m_splitImpulseTurnErp);
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}
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m_dynamicsWorld->getSolverInfo().m_numIterations = gSolverIterations; // set the number of solver iterations for iteration based solvers
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@ -538,7 +548,7 @@ struct CommonTimeWarpBase: public CommonRigidBodyBase {
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btScalar calculatePerformedSpeedup() { // calculate performed speedup
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// we calculate the performed speed up
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btScalar speedUp = ((double)performedTime*1000.0)/((double)(mLoopTimer.getTimeMilliseconds()-performanceTimestamp));
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//b3Printf("Avg Effective speedup: %f",speedUp);
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// b3Printf("Avg Effective speedup: %f",speedUp);
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performedTime = 0;
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performanceTimestamp = mLoopTimer.getTimeMilliseconds();
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return speedUp;
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@ -589,7 +599,7 @@ struct CommonTimeWarpBase: public CommonRigidBodyBase {
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if(mLoopTimer.getTimeSeconds() - speedUpPrintTimeStamp > 1){
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// on reset, we calculate the performed speed up
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double speedUp = ((double)performedTime*1000.0)/((double)(mLoopTimer.getTimeMilliseconds()-performanceTimestamp));
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//b3Printf("Avg Effective speedup: %f",speedUp);
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// b3Printf("Avg Effective speedup: %f",speedUp);
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performedTime = 0;
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performanceTimestamp = mLoopTimer.getTimeMilliseconds();
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speedUpPrintTimeStamp = mLoopTimer.getTimeSeconds();
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@ -600,7 +610,7 @@ struct CommonTimeWarpBase: public CommonRigidBodyBase {
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mFrameTime = mThisModelIteration - mPreviousModelIteration; /**!< Calculate the frame time (in Milliseconds) */
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mPreviousModelIteration = mThisModelIteration;
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// //b3Printf("Current Frame time: % u", mFrameTime);
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// b3Printf("Current Frame time: % u", mFrameTime);
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mApplicationRuntime = mThisModelIteration - mApplicationStart; /**!< Update main frame timer (in Milliseconds) */
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@ -634,7 +644,7 @@ struct CommonTimeWarpBase: public CommonRigidBodyBase {
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// In the example browser, there is a separate method called renderScene() for this
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// Uncomment this for some detailed output about the application ticks
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// //b3Printf(
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// b3Printf(
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// "Physics time: %u milliseconds / Graphics time: %u milliseconds / Input time: %u milliseconds / Total time passed: %u milliseconds",
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// mLastModelTick, mLastGraphicsTick, mLastInputTick, mApplicationRuntime);
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@ -645,6 +655,64 @@ struct CommonTimeWarpBase: public CommonRigidBodyBase {
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}
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virtual bool keyboardCallback(int key, int state)
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{
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switch(key)
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{
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case '1':{
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gSimulationSpeed = SimulationSpeeds::QUARTER_SPEED;
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gMaximumSpeed = false;
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return true;
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}
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case '2':{
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gSimulationSpeed = SimulationSpeeds::HALF_SPEED;
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gMaximumSpeed = false;
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return true;
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}
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case '3':{
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gSimulationSpeed = SimulationSpeeds::NORMAL_SPEED;
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gMaximumSpeed = false;
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return true;
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}
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case '4':{
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gSimulationSpeed = SimulationSpeeds::DOUBLE_SPEED;
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gMaximumSpeed = false;
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return true;
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}
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case '5':{
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gSimulationSpeed = SimulationSpeeds::QUADRUPLE_SPEED;
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gMaximumSpeed = false;
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return true;
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}
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case '6':{
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gSimulationSpeed = SimulationSpeeds::DECUPLE_SPEED;
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gMaximumSpeed = false;
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return true;
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}
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case '7':{
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gSimulationSpeed = SimulationSpeeds::CENTUPLE_SPEED;
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gMaximumSpeed = false;
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return true;
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}
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case '8':{
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gSimulationSpeed = SimulationSpeeds::QUINCENTUPLE_SPEED;
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gMaximumSpeed = false;
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return true;
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}
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case '9':{
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gSimulationSpeed = SimulationSpeeds::MILLITUPLE_SPEED;
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gMaximumSpeed = false;
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return true;
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}
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case '0':{
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gSimulationSpeed = SimulationSpeeds::MAX_SPEED;
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gMaximumSpeed = true;
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return true;
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}
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}
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return CommonRigidBodyBase::keyboardCallback(key,state);
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}
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void changePhysicsStepsPerSecond(float physicsStepsPerSecond){ // change the simulation accuracy
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if (m_dynamicsWorld && physicsStepsPerSecond) {
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@ -668,11 +736,11 @@ struct CommonTimeWarpBase: public CommonRigidBodyBase {
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gCFMSpringK, // k of a spring in the equation F = k * x (x:position)
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gCFMDamperC); // k of a damper in the equation F = k * v (v:velocity)
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//b3Printf("Bullet DynamicsWorld ERP: %f",
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// m_dynamicsWorld->getSolverInfo().m_erp);
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// b3Printf("Bullet DynamicsWorld ERP: %f",
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// m_dynamicsWorld->getSolverInfo().m_erp);
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//b3Printf("Bullet DynamicsWorld CFM: %f",
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// m_dynamicsWorld->getSolverInfo().m_globalCfm);
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// b3Printf("Bullet DynamicsWorld CFM: %f",
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// m_dynamicsWorld->getSolverInfo().m_globalCfm);
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}
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}
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@ -716,10 +784,10 @@ struct CommonTimeWarpBase: public CommonRigidBodyBase {
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||||
mPhysicsTick = 0; // no time for physics left / The internal application step is too high
|
||||
}
|
||||
|
||||
// //b3Printf("Application tick: %u",gApplicationTick);
|
||||
// //b3Printf("Graphics tick: %u",mLastGraphicsTick);
|
||||
// //b3Printf("Input tick: %u",mLastInputTick);
|
||||
// //b3Printf("Physics tick: %u",mPhysicsTick);
|
||||
// b3Printf("Application tick: %u",gApplicationTick);
|
||||
// b3Printf("Graphics tick: %u",mLastGraphicsTick);
|
||||
// b3Printf("Input tick: %u",mLastInputTick);
|
||||
// b3Printf("Physics tick: %u",mPhysicsTick);
|
||||
|
||||
if (mPhysicsTick > 0) { // with positive physics tick we perform as many update steps until the time for it is used up
|
||||
|
||||
@ -727,7 +795,7 @@ struct CommonTimeWarpBase: public CommonRigidBodyBase {
|
||||
mPhysicsStepEnd = mPhysicsStepStart;
|
||||
|
||||
while (mPhysicsTick > mPhysicsStepEnd - mPhysicsStepStart) { /**!< Update the physics until we run out of time (in Milliseconds) */
|
||||
// //b3Printf("Physics passed: %u", mPhysicsStepEnd - mPhysicsStepStart);
|
||||
// b3Printf("Physics passed: %u", mPhysicsStepEnd - mPhysicsStepStart);
|
||||
double timeStep = fixedPhysicsStepSizeSec; /**!< update the world (in Seconds) */
|
||||
|
||||
if (gInterpolate) {
|
||||
@ -748,10 +816,10 @@ struct CommonTimeWarpBase: public CommonRigidBodyBase {
|
||||
} // The simulation therefore gets slower, but still performs all requested physics steps
|
||||
|
||||
mModelAccumulator += mFrameTime; /**!< Accumulate the time the physics simulation has to perform in order to stay in real-time (in Milliseconds) */
|
||||
// //b3Printf("Model time accumulator: %u", mModelAccumulator);
|
||||
// b3Printf("Model time accumulator: %u", mModelAccumulator);
|
||||
|
||||
int steps = floor(mModelAccumulator / fixedPhysicsStepSizeMilli); /**!< Calculate the number of time steps we can take */
|
||||
// //b3Printf("Next steps: %i", steps);
|
||||
// b3Printf("Next steps: %i", steps);
|
||||
|
||||
if (steps > 0) { /**!< Update if we can take at least one step */
|
||||
|
||||
@ -770,6 +838,10 @@ struct CommonTimeWarpBase: public CommonRigidBodyBase {
|
||||
void renderScene() { // render the scene
|
||||
if(!gIsHeadless){ // while the simulation is not running headlessly, render to screen
|
||||
CommonRigidBodyBase::renderScene();
|
||||
|
||||
if(m_dynamicsWorld->getDebugDrawer()){
|
||||
debugDraw(m_dynamicsWorld->getDebugDrawer()->getDebugMode());
|
||||
}
|
||||
}
|
||||
}
|
||||
void resetCamera() { // reset the camera to its original position
|
||||
|
||||
@ -102,6 +102,7 @@ void* GROUND_ID = (void*)1;
|
||||
class NN3DWalkersExample : public CommonTimeWarpBase
|
||||
{
|
||||
btScalar m_Time;
|
||||
btScalar m_SpeedupTimestamp;
|
||||
btScalar m_targetAccumulator;
|
||||
btScalar m_targetFrequency;
|
||||
btScalar m_motorStrength;
|
||||
@ -116,6 +117,7 @@ public:
|
||||
NN3DWalkersExample(struct GUIHelperInterface* helper)
|
||||
:CommonTimeWarpBase(helper),
|
||||
m_Time(0),
|
||||
m_SpeedupTimestamp(0),
|
||||
m_motorStrength(0.5f),
|
||||
m_targetFrequency(3),
|
||||
m_targetAccumulator(0),
|
||||
@ -150,8 +152,6 @@ public:
|
||||
m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
|
||||
}
|
||||
|
||||
// virtual void renderScene();
|
||||
|
||||
// Evaluation
|
||||
|
||||
void update(const btScalar timeSinceLastTick);
|
||||
@ -520,7 +520,9 @@ bool legContactProcessedCallback(btManifoldPoint& cp, void* body0, void* body1)
|
||||
// Make a circle with a 0.9 radius at (0,0,0)
|
||||
// with RGB color (1,0,0).
|
||||
if(nn3DWalkers->m_dynamicsWorld->getDebugDrawer() != NULL){
|
||||
nn3DWalkers->m_dynamicsWorld->getDebugDrawer()->drawSphere(cp.getPositionWorldOnA(), 0.1, btVector3(1., 0., 0.));
|
||||
if(!gIsHeadless){
|
||||
nn3DWalkers->m_dynamicsWorld->getDebugDrawer()->drawSphere(cp.getPositionWorldOnA(), 0.1, btVector3(1., 0., 0.));
|
||||
}
|
||||
}
|
||||
|
||||
if(ID1 != GROUND_ID && ID1){
|
||||
@ -558,7 +560,7 @@ void floorNNSliderValue(float notUsed) {
|
||||
void NN3DWalkersExample::initPhysics()
|
||||
{
|
||||
|
||||
setupParameterInterface(); // parameter interface to use timewarp
|
||||
setupBasicParamInterface(); // parameter interface to use timewarp
|
||||
|
||||
gContactProcessedCallback = legContactProcessedCallback;
|
||||
|
||||
@ -760,19 +762,17 @@ bool NN3DWalkersExample::keyboardCallback(int key, int state)
|
||||
case '[':
|
||||
m_motorStrength /= 1.1f;
|
||||
return true;
|
||||
break;
|
||||
case ']':
|
||||
m_motorStrength *= 1.1f;
|
||||
return true;
|
||||
break;
|
||||
case 'l':
|
||||
printWalkerConfigs();
|
||||
break;
|
||||
return true;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
return false;
|
||||
return CommonTimeWarpBase::keyboardCallback(key,state);
|
||||
}
|
||||
|
||||
void NN3DWalkersExample::exitPhysics()
|
||||
@ -791,15 +791,6 @@ void NN3DWalkersExample::exitPhysics()
|
||||
CommonRigidBodyBase::exitPhysics();
|
||||
}
|
||||
|
||||
//void NN3DWalkersExample::renderScene()
|
||||
//{
|
||||
// m_guiHelper->syncPhysicsToGraphics(m_dynamicsWorld);
|
||||
//
|
||||
// m_guiHelper->render(m_dynamicsWorld);
|
||||
//
|
||||
// debugDraw(m_dynamicsWorld->getDebugDrawer()->getDebugMode());
|
||||
//}
|
||||
|
||||
class CommonExampleInterface* ET_NN3DWalkersCreateFunc(struct CommonExampleOptions& options)
|
||||
{
|
||||
nn3DWalkers = new NN3DWalkersExample(options.m_guiHelper);
|
||||
@ -919,6 +910,11 @@ void NN3DWalkersExample::update(const btScalar timeSinceLastTick) {
|
||||
scheduleEvaluations(); /**!< Start new evaluations and finish the old ones. */
|
||||
|
||||
drawMarkings(); /**!< Draw markings on the ground */
|
||||
|
||||
// if(m_Time > m_SpeedupTimestamp + 1.0f){ // print effective speedup
|
||||
// b3Printf("Avg Effective speedup: %f real time",calculatePerformedSpeedup());
|
||||
// m_SpeedupTimestamp = m_Time;
|
||||
// }
|
||||
}
|
||||
|
||||
void NN3DWalkersExample::updateEvaluations(const btScalar timeSinceLastTick) {
|
||||
@ -1020,19 +1016,21 @@ void NN3DWalkersExample::scheduleEvaluations() {
|
||||
}
|
||||
|
||||
void NN3DWalkersExample::drawMarkings() {
|
||||
for(int i = 0; i < NUM_WALKERS;i++) // draw current distance plates of moving walkers
|
||||
{
|
||||
if(m_walkersInPopulation[i]->isInEvaluation()){
|
||||
btVector3 walkerPosition = m_walkersInPopulation[i]->getPosition();
|
||||
char performance[10];
|
||||
sprintf(performance, "%.2f m", btSqrt(m_walkersInPopulation[i]->getDistanceFitness()));
|
||||
m_guiHelper->drawText3D(performance,walkerPosition.x(),walkerPosition.y()+1,walkerPosition.z(),3);
|
||||
if(!gIsHeadless){
|
||||
for(int i = 0; i < NUM_WALKERS;i++) // draw current distance plates of moving walkers
|
||||
{
|
||||
if(m_walkersInPopulation[i]->isInEvaluation()){
|
||||
btVector3 walkerPosition = m_walkersInPopulation[i]->getPosition();
|
||||
char performance[10];
|
||||
sprintf(performance, "%.2f m", btSqrt(m_walkersInPopulation[i]->getDistanceFitness()));
|
||||
m_guiHelper->drawText3D(performance,walkerPosition.x(),walkerPosition.y()+1,walkerPosition.z(),3);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
for(int i = 2; i < 50; i+=2){ // draw distance circles
|
||||
if(m_dynamicsWorld->getDebugDrawer()){
|
||||
m_dynamicsWorld->getDebugDrawer()->drawArc(btVector3(0,0,0),btVector3(0,1,0),btVector3(1,0,0),btScalar(i), btScalar(i),btScalar(0),btScalar(SIMD_2_PI),btVector3(10*i,0,0),false);
|
||||
for(int i = 2; i < 50; i+=2){ // draw distance circles
|
||||
if(m_dynamicsWorld->getDebugDrawer()){
|
||||
m_dynamicsWorld->getDebugDrawer()->drawArc(btVector3(0,0,0),btVector3(0,1,0),btVector3(1,0,0),btScalar(i), btScalar(i),btScalar(0),btScalar(SIMD_2_PI),btVector3(10*i,0,0),false);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user