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demo cleanup part 3 (fixed memory leaks in raytracer demo and linear convex cast demo)

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This commit is contained in:
ejcoumans 2007-12-07 01:33:40 +00:00
parent e5720170f0
commit 8a28c7940a
4 changed files with 91 additions and 264 deletions
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223
Demos/GjkConvexCastDemo/LinearConvexCastDemo.cpp
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@ -4,8 +4,8 @@
* Permission to use, copy, modify, distribute and sell this software
* and its documentation for any purpose is hereby granted without fee,
* provided that the above copyright notice appear in all copies.
* Erwin Coumans makes no representations about the suitability
* of this software for any purpose.
* Erwin Coumans makes no representations about the suitability
* of this software for any purpose.
* It is provided "as is" without express or implied warranty.
*/
@ -15,7 +15,7 @@
LinearConvexCastDemo implements an efficient continuous collision detection algorithm.
Both linear and angular velocities are supported. Gjk or Simplex based methods.
Motion using Exponential Map.
Comparison with Screwing Motion.
Comparison with Screwing Motion.
Also comparision with Algebraic CCD and Interval Arithmetic methods (Stephane Redon)
*/
@ -23,201 +23,136 @@
///Low level demo, doesn't include btBulletCollisionCommon.h
#include "LinearMath/btQuaternion.h"
#include "LinearMath/btTransform.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
#include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
#ifdef USE_ALGEBRAIC_CCD
#include "NarrowPhaseCollision/BU_CollisionPair.h"
#endif //USE_ALGEBRAIC_CCD
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionShapes/btTetrahedronShape.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
#include "GL_ShapeDrawer.h"
#include "LinearConvexCastDemo.h"
#include "GlutStuff.h"
static btVoronoiSimplexSolver sVoronoiSimplexSolver;
btSimplexSolverInterface& gGjkSimplexSolver = sVoronoiSimplexSolver;
static float yaw=0.f,pitch=0.f,roll=0.f;
static const int maxNumObjects = 4;
static const int numObjects = 2;
static btPolyhedralConvexShape* shapePtr[maxNumObjects];
static btTransform tr[numObjects];
void DrawRasterizerLine(float const* , float const*, int)
{
}
void LinearConvexCastDemo::initPhysics()
{
setCameraDistance(50.f);
tr[0].setOrigin(btVector3(0,0,0));
tr[1].setOrigin(btVector3(0,10,0));
setCameraDistance(10.f);
btMatrix3x3 basisA;
basisA.setValue(0.99999958f,0.00022980258f,0.00090992288f,
-0.00029313788f,0.99753088f,0.070228584f,
-0.00089153741f,-0.070228823f,0.99753052f);
tr[0].setIdentity();
tr[0].setOrigin( btVector3( 0.0f, 5.5f, 0.0f ) );
btMatrix3x3 basisB;
basisB.setValue(1.0000000f,4.4865553e-018f,-4.4410586e-017f,
4.4865495e-018f,0.97979438f,0.20000751f,
4.4410586e-017f,-0.20000751f,0.97979438f);
tr[1].setIdentity();
tr[1].setOrigin( btVector3( 0.0f, 0.0f, 0.0f ) );
tr[0].setBasis(basisA);
tr[1].setBasis(basisB);
// Pyramide
float r = 1.0f;
float h = 2.0f;
btConvexHullShape* shapeA = new btConvexHullShape;
shapeA->addPoint( btVector3( 0.0f, 0.75f * h, 0.0f ) );
shapeA->addPoint( btVector3( -r, -0.25f * h, r ) );
shapeA->addPoint( btVector3( r, -0.25f * h, r ) );
shapeA->addPoint( btVector3( r, -0.25f * h, -r ) );
shapeA->addPoint( btVector3( -r, -0.25f * h, -r ) );
// Triangle
btConvexHullShape* shapeB = new btConvexHullShape;
shapeB->addPoint( btVector3( 0.0f, 1.0f, 0.0f ) );
shapeB->addPoint( btVector3( 1.0f, -1.0f, 0.0f ) );
shapeB->addPoint( btVector3( -1.0f, -1.0f, 0.0f ) );
btVector3 boxHalfExtentsA(0.2,4,4);
btVector3 boxHalfExtentsB(6,6,6);
shapePtr[0] = shapeA;
shapePtr[1] = shapeB;
btBoxShape* boxA = new btBoxShape(boxHalfExtentsA);
/* btBU_Simplex1to4 boxB;
boxB.addVertex(btPoint3(-5,0,-5));
boxB.addVertex(btPoint3(5,0,-5));
boxB.addVertex(btPoint3(0,0,5));
boxB.addVertex(btPoint3(0,5,0));
*/
btBoxShape* boxB = new btBoxShape(boxHalfExtentsB);
shapePtr[0] = boxA;
shapePtr[1] = boxB;
shapePtr[0]->setMargin(0.01f);
shapePtr[1]->setMargin(0.01f);
btTransform tr;
tr.setIdentity();
shapePtr[0]->setMargin( 0.01f );
shapePtr[1]->setMargin( 0.01f );
}
//to be implemented by the demo
void LinearConvexCastDemo::clientMoveAndDisplay()
{
displayCallback();
}
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
LinearConvexCastDemo::~LinearConvexCastDemo()
{
delete shapePtr[0];
delete shapePtr[1];
}
static btVoronoiSimplexSolver sVoronoiSimplexSolver;
btSimplexSolverInterface& gGjkSimplexSolver = sVoronoiSimplexSolver;
bool drawLine= false;
void LinearConvexCastDemo::displayCallback(void)
void LinearConvexCastDemo::displayCallback(void)
{
updateCamera();
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glDisable(GL_LIGHTING);
//GL_ShapeDrawer::drawCoordSystem();
GL_ShapeDrawer::drawCoordSystem();
btScalar m[16];
int i;
for (i=0;i<numObjects;i++)
{
tr[i].getOpenGLMatrix( m );
GL_ShapeDrawer::drawOpenGL(m,shapePtr[i],btVector3(1,1,1),getDebugMode());
}
int shapeIndex = 1;
btQuaternion orn;
orn.setEuler(yaw,pitch,roll);
tr[shapeIndex].setRotation(orn);
if (m_stepping || m_singleStep)
{
m_singleStep = false;
pitch += 0.005f;
yaw += 0.01f;
}
btVector3 fromA(-25,11,0);
btVector3 toA(15,11,0);
btQuaternion ornFromA(0.f,0.f,0.f,1.f);
btQuaternion ornToA(0.f,0.f,0.f,1.f);
btTransform rayFromWorld(ornFromA,fromA);
btTransform rayToWorld(ornToA,toA);
tr[0] = rayFromWorld;
if (drawLine)
{
glBegin(GL_LINES);
glColor3f(0, 0, 1);
glVertex3d(rayFromWorld.getOrigin().x(), rayFromWorld.getOrigin().y(),rayFromWorld.getOrigin().z());
glVertex3d(rayToWorld.getOrigin().x(),rayToWorld.getOrigin().y(),rayToWorld.getOrigin().z());
glEnd();
}
//now perform a raycast on the shapes, in local (shape) space
//choose one of the following lines
for (i=1;i<numObjects;i++)
{
btContinuousConvexCollision convexCaster0(shapePtr[0],shapePtr[i],&gGjkSimplexSolver,0);
btGjkConvexCast convexCaster1(shapePtr[0],shapePtr[i],&gGjkSimplexSolver);
//BU_CollisionPair (algebraic version) is currently broken, will look into this
//BU_CollisionPair convexCaster2(shapePtr[0],shapePtr[i]);
btSubsimplexConvexCast convexCaster3(shapePtr[0],shapePtr[i],&gGjkSimplexSolver);
gGjkSimplexSolver.reset();
btConvexCast::CastResult rayResult;
if (convexCaster3.calcTimeOfImpact(rayFromWorld,rayToWorld,tr[i],tr[i],rayResult))
{
glDisable(GL_DEPTH_TEST);
btVector3 hitPoint;
hitPoint.setInterpolate3(rayFromWorld.getOrigin(),rayToWorld.getOrigin(),rayResult.m_fraction);
//draw the raycast result
glBegin(GL_LINES);
glColor3f(1, 1, 1);
glVertex3d(rayFromWorld.getOrigin().x(), rayFromWorld.getOrigin().y(),rayFromWorld.getOrigin().z());
glVertex3d(hitPoint.x(),hitPoint.y(),hitPoint.z());
glEnd();
glEnable(GL_DEPTH_TEST);
btTransform toTransWorld;
toTransWorld = tr[0];
toTransWorld.setOrigin(hitPoint);
toTransWorld.getOpenGLMatrix( m );
GL_ShapeDrawer::drawOpenGL(m,shapePtr[0],btVector3(0,1,1),getDebugMode());
btTransform toA, toB;
toA.setIdentity();
toA.setOrigin( btVector3( 0.0f, 1.5f, 0.0f ) );
toB.setIdentity();
toB.setOrigin( btVector3( 0.0f, 4.0f, 0.0f ) );
}
}
gGjkSimplexSolver.reset();
btSubsimplexConvexCast convexCaster( shapePtr[ 0 ], shapePtr[ 1 ], &gGjkSimplexSolver );
btConvexCast::CastResult result;
convexCaster.calcTimeOfImpact( tr[ 0 ], toA, tr[ 1 ], toB, result );
btScalar m1[16], m2[16];
tr[ 0 ].getOpenGLMatrix( m1 );
tr[ 1 ].getOpenGLMatrix( m2 );
GL_ShapeDrawer::drawOpenGL( m1, shapePtr[ 0 ], btVector3( 1, 0, 0 ), getDebugMode() );
GL_ShapeDrawer::drawOpenGL( m2, shapePtr[ 1 ], btVector3( 1, 0, 0 ), getDebugMode() );
btVector3 originA, originB;
originA.setInterpolate3( tr[ 0 ].getOrigin(), toA.getOrigin(), result.m_fraction );
originB.setInterpolate3( tr[ 1 ].getOrigin(), toB.getOrigin(), result.m_fraction );
btTransform A = tr[ 0 ];
A.setOrigin( originA );
btTransform B = tr[ 1 ];
B.setOrigin( originB );
A.getOpenGLMatrix( m1 );
B.getOpenGLMatrix( m2 );
GL_ShapeDrawer::drawOpenGL( m1, shapePtr[ 0 ], btVector3( 1, 1, 0 ), getDebugMode() );
GL_ShapeDrawer::drawOpenGL( m2, shapePtr[ 1 ], btVector3( 1, 1, 0 ), getDebugMode() );
glFlush();
glutSwapBuffers();

2
Demos/GjkConvexCastDemo/LinearConvexCastDemo.h
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@ -22,6 +22,8 @@ class LinearConvexCastDemo : public DemoApplication
{
public:
virtual ~LinearConvexCastDemo();
void initPhysics();
virtual void clientMoveAndDisplay();

128
Demos/Raytracer/Raytracer.cpp
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@ -11,48 +11,8 @@
#define IN_TO_M_CONSTANT (0.0254f)
#define M_TO_IN_CONSTANT (39.3700787f)
#define CM_TO_IN_CONSTANT (0.393700787f)
#define LBS_TO_KG_CONSTANT (0.45359237f)
#define FEET_TO_IN(x) (12.0f * (float)(x))
#define IN_TO_FT(x) ((float)(x)/12.0f)
#define IN_TO_M(x) ((float)(x) * IN_TO_M_CONSTANT)
#define M_TO_IN(x) ((float)(x) * M_TO_IN_CONSTANT)
#define CM_TO_IN(x) ((float)(x) * CM_TO_IN_CONSTANT)
#define FT_TO_M(x) (IN_TO_M(FEET_TO_IN(x)))
#define LBS_TO_KG(x) ((float)(x) * LBS_TO_KG_CONSTANT)
#define PIN_HEIGHT IN_TO_M(15.0f)
#define PIN_DIAMETER IN_TO_M(4.76f)
#define PIN_MASS LBS_TO_KG(3.5f)
#define PIN_FRICTION (BALL_FRICTION) // a guess
//#define PIN_COR (0.67f) // was 0.67
#define PIN_COR (0.2f)
#define BALL_DIAMETER IN_TO_M(8.55f)
#define BALL_MASS LBS_TO_KG(16.0f)
#define BALL_FRICTION (0.3f) // max is 0.32
#define BALL_COR (0.7)
#define BALL_MAX_FRICTION (0.32f)
#define BALL_MAX_MASS (16.0f) // lbs
#define BALL_MIN_MASS (8.0f) // lbs
#define LANE_DECK_FUDGE (IN_TO_M(6.0f))
#define LANE_WIDTH IN_TO_M(42.0f)
#define LANE_TOTAL_WIDTH IN_TO_M(62.88f)
#define LANE_LENGTH FT_TO_M(60.0f-LANE_DECK_FUDGE)
#define GRAVITY_VECTOR (btVector3(0.0f,-9.81f,0.0f))
#define PIN_Z_DIST IN_TO_M(10.3923048f)
#define PIN_Y_DIST IN_TO_M(12.0f)
#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
/*
Raytracer uses the Convex rayCast to visualize the Collision Shapes/Minkowski Sum.
Very basic raytracer, rendering into a texture.
@ -60,7 +20,6 @@ Very basic raytracer, rendering into a texture.
///Low level demo, doesn't include btBulletCollisionCommon.h
#include "GL_Simplex1to4.h"
#include "LinearMath/btQuaternion.h"
#include "LinearMath/btTransform.h"
#include "GL_ShapeDrawer.h"
@ -74,10 +33,6 @@ Very basic raytracer, rendering into a texture.
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
#ifdef USE_ALGEBRAIC_CCD
#include "NarrowPhaseCollision/BU_CollisionPair.h"
#endif //USE_ALGEBRAIC_CCD
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
@ -105,8 +60,6 @@ static float yaw=0.f,pitch=0.f,roll=0.f;
static const int maxNumObjects = 4;
static const int numObjects = 1;
/// simplex contains the vertices, and some extra code to draw and debug
static GL_Simplex1to4 simplex;
static btConvexShape* shapePtr[maxNumObjects];
static btTransform transforms[maxNumObjects];
@ -119,14 +72,7 @@ static int screenWidth = 128;
static int screenHeight = 128;//screenWidth * aspectRatio;
GLuint glTextureId;
btSphereShape mySphere(1);
btBoxShape myBox(btVector3(0.4f,0.4f,0.4f));
btCylinderShape myCylinder(btVector3(0.3f,0.3f,0.3f));
btConeShape myCone(1,1);
btCompoundShape compound;
btMinkowskiSumShape myMink(&myCylinder,&myBox);
@ -139,15 +85,8 @@ void Raytracer::initPhysics()
{
raytracePicture = new renderTexture(screenWidth,screenHeight);
myBox.setMargin(0.02f);
myCone.setMargin(0.2f);
simplex.setSimplexSolver(&simplexSolver);
simplex.addVertex(btPoint3(-1,0,-1));
simplex.addVertex(btPoint3(1,0,-1));
simplex.addVertex(btPoint3(0,0,1));
simplex.addVertex(btPoint3(0,1,0));
/// convex hull of 5 spheres
#define NUM_SPHERES 5
@ -160,57 +99,24 @@ void Raytracer::initPhysics()
btVector3(0.f, 0.f, 0.f)
};
//btMultiSphereShape* multiSphereShape = new btMultiSphereShape(inertiaHalfExtents,positions,radi,NUM_SPHERES);
btVector3 sphereOffset1(0,0,0);
btScalar sphereRadius = 2.f;
btVector3 nonUniformScaling(0.5,2,0.5);
btMultiSphereShape* nonuniformScaledSphere = new btMultiSphereShape(inertiaHalfExtents,&sphereOffset1,&sphereRadius,1);
nonuniformScaledSphere->setLocalScaling(nonUniformScaling);
nonuniformScaledSphere->setMargin(0.04);
btConvexHullShape* convexHullShape = new btConvexHullShape(&positions[0].getX(),3);
//attempt to approximate a bowling pin
//choose shape
shapePtr[0] = &myCone;//&compound;//&myCone;//&myBox;//nonuniformScaledSphere;//&myCone;
// shapePtr[0] = &myCone;//&myBox;//nonuniformScaledSphere;//&myCone;
shapePtr[0] = &myCone;
shapePtr[1] =&simplex;
shapePtr[2] =convexHullShape;
shapePtr[3] =&myMink;//myBox;//multiSphereShape
btVector3 sphereOffset(0,PIN_HEIGHT/4.0f,0);
// create pin collision shape
btCollisionShape* cyl = new btCylinderShape(btVector3(PIN_DIAMETER/4.0f, PIN_HEIGHT/4.0f, PIN_DIAMETER/4.0f));
cyl->setMargin(IN_TO_M(0.000025f));
btVector3 spherepositions[3] = {btVector3(0,-PIN_HEIGHT/2.f +(PIN_DIAMETER/2.0f)+IN_TO_M(1.25f),0),
btVector3(0,-PIN_HEIGHT/2.f +(PIN_DIAMETER/2.0f)+IN_TO_M(1.25f),0)+sphereOffset,
btVector3(0,-PIN_HEIGHT/2.f +(PIN_DIAMETER/2.0f)+IN_TO_M(1.25f),0)-sphereOffset};
btScalar radii[3] = {(PIN_DIAMETER/2.0f),(PIN_DIAMETER/4.0f),(PIN_DIAMETER/4.0f)};
btCollisionShape* sph = new btMultiSphereShape(inertiaHalfExtents,spherepositions,radii,3);
btTransform ident;
ident.setIdentity();
ident.setOrigin(btVector3(0.f,-PIN_HEIGHT/4.f,0.f));
compound.addChildShape(ident,cyl);
ident.setIdentity();
//ident.setOrigin(btVector3(0.0f, -PIN_HEIGHT/2.0f + PIN_DIAMETER/2.0f + IN_TO_M(3.5f), 0.0f));
compound.addChildShape(ident,sph);
btVector3 spherepositions2[2] = {btVector3(0,+PIN_HEIGHT/2.f -(PIN_DIAMETER/4.0f),0),
btVector3(0,0,0)};
btScalar radii2[2] = {(PIN_DIAMETER/4.0f),(PIN_DIAMETER/6.0f)};
btCollisionShape* sph2 = new btMultiSphereShape(inertiaHalfExtents,spherepositions2,radii2,2);
compound.addChildShape(ident,sph2);
compound.setMargin(0.001);
simplex.setMargin(0.3f);
}
Raytracer::~Raytracer()
{
delete raytracePicture;
raytracePicture=0;
}
//to be implemented by the demo
void Raytracer::clientMoveAndDisplay()
@ -242,7 +148,6 @@ void Raytracer::displayCallback()
//transforms[i].setRotation(orn);
}
}
myMink.setTransformA(btTransform(transforms[0].getRotation()));
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glDisable(GL_LIGHTING);
@ -512,23 +417,6 @@ void Raytracer::displayCallback()
/*
/// normal opengl rendering
float m[16];
int i;
for (i=0;i<numObjects;i++)
{
transA.getOpenGLMatrix( m );
/// draw the simplex
GL_ShapeDrawer::drawOpenGL(m,shapePtr[i],btVector3(1,1,1));
/// calculate closest point from simplex to the origin, and draw this vector
simplex.calcClosest(m);
}
*/
glPopMatrix();

2
Demos/Raytracer/Raytracer.h
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@ -24,6 +24,8 @@ class Raytracer : public DemoApplication
void initPhysics();
virtual ~Raytracer();
virtual void clientMoveAndDisplay();
virtual void displayCallback();