mirror of
https://github.com/bulletphysics/bullet3
synced 2025-01-07 08:10:08 +00:00
add FractureDemo to AllBulletDemos
improvements in CCD handling some cleanup of CcdPhysicsDemo and BasicDemo
This commit is contained in:
erwin.coumans
parent
2291a6a9d3
commit
cdddf9d25a
@ -41,7 +41,10 @@ SET(AllBulletDemos_SRCS
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../ConcaveConvexcastDemo/ConcaveConvexcastDemo.cpp
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../ConvexDecompositionDemo/ConvexDecompositionDemo.cpp
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../SliderConstraintDemo/SliderConstraintDemo.cpp
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../RagdollDemo/RagdollDemo.cpp
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../RagdollDemo/RagdollDemo.cpp
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../FractureDemo/FractureDemo.cpp
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../FractureDemo/btFractureBody.cpp
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../FractureDemo/btFractureDynamicsWorld.cpp
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../GimpactTestDemo/GimpactTestDemo.cpp
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../Raytracer/Raytracer.cpp
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../GjkConvexCastDemo/LinearConvexCastDemo.cpp
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@ -18,6 +18,7 @@ subject to the following restrictions:
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#include "../CcdPhysicsDemo/CcdPhysicsDemo.h"
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#include "../BspDemo/BspDemo.h"
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#include "../BasicDemo/BasicDemo.h"
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#include "../FractureDemo/FractureDemo.h"
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#include "../ConcaveDemo/ConcaveDemo.h"
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#include "../ConcaveRaycastDemo/ConcaveRaycastDemo.h"
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#include "../ConcaveConvexcastDemo/ConcaveConvexcastDemo.h"
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@ -107,6 +108,7 @@ public:
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btDemoEntry g_demoEntries[] =
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{
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// {"Box2dDemo",Box2dDemo::Create},
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{"FractureDemo",FractureDemo::Create},
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{"ForkLift Demo",ForkLiftDemo::Create},
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{"Dynamic Control Demo",MotorDemo::Create},
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{"ConstraintDemo",ConstraintDemo::Create},
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@ -30,23 +30,10 @@ subject to the following restrictions:
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#include "BasicDemo.h"
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#include "GlutStuff.h"
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#include "GLDebugFont.h"
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///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
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#include "btBulletDynamicsCommon.h"
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#include <stdio.h> //printf debugging
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#include "GLDebugDrawer.h"
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static GLDebugDrawer sDebugDrawer;
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BasicDemo::BasicDemo()
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:m_ccdMode(USE_SPECULULATIVE_CONTACTS)
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{
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setDebugMode(btIDebugDraw::DBG_DrawText);
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setCameraDistance(btScalar(SCALING*50.));
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}
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void BasicDemo::clientMoveAndDisplay()
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@ -59,15 +46,13 @@ void BasicDemo::clientMoveAndDisplay()
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///step the simulation
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if (m_dynamicsWorld)
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{
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m_dynamicsWorld->stepSimulation(1./60.);//ms / 1000000.f);
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m_dynamicsWorld->stepSimulation(ms / 1000000.f);
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//optional but useful: debug drawing
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m_dynamicsWorld->debugDrawWorld();
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}
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renderme();
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displayText();
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glFlush();
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swapBuffers();
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@ -75,62 +60,6 @@ void BasicDemo::clientMoveAndDisplay()
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}
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void BasicDemo::displayText()
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{
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int lineWidth=400;
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int xStart = m_glutScreenWidth - lineWidth;
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int yStart = 20;
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if((getDebugMode() & btIDebugDraw::DBG_DrawText)!=0)
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{
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setOrthographicProjection();
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glDisable(GL_LIGHTING);
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glColor3f(0, 0, 0);
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char buf[124];
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glRasterPos3f(xStart, yStart, 0);
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switch (m_ccdMode)
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{
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case USE_SPECULULATIVE_CONTACTS:
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{
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sprintf(buf,"Predictive contacts enabled");
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break;
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}
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case USE_CONSERVATIVE_ADVANCEMENT:
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{
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sprintf(buf,"Conservative advancement enabled");
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break;
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};
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case USE_NO_CCD:
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{
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sprintf(buf,"CCD disabled");
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break;
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}
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default:
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{
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sprintf(buf,"unknown CCD setting");
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};
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};
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GLDebugDrawString(xStart,20,buf);
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glRasterPos3f(xStart, yStart, 0);
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sprintf(buf,"Press 'p' to change CCD mode");
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yStart+=20;
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GLDebugDrawString(xStart,yStart,buf);
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glRasterPos3f(xStart, yStart, 0);
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sprintf(buf,"Press '.' or right mouse to shoot boxes");
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yStart+=20;
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GLDebugDrawString(xStart,yStart,buf);
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glRasterPos3f(xStart, yStart, 0);
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sprintf(buf,"space to restart, h(elp), t(ext), w(ire)");
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yStart+=20;
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GLDebugDrawString(xStart,yStart,buf);
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resetPerspectiveProjection();
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glEnable(GL_LIGHTING);
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}
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}
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void BasicDemo::displayCallback(void) {
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@ -138,13 +67,9 @@ void BasicDemo::displayCallback(void) {
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renderme();
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displayText();
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//optional but useful: debug drawing to detect problems
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if (m_dynamicsWorld)
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{
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m_dynamicsWorld->debugDrawWorld();
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}
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glFlush();
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swapBuffers();
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@ -158,17 +83,15 @@ void BasicDemo::initPhysics()
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{
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setTexturing(true);
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setShadows(true);
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m_ShootBoxInitialSpeed = 1000.f;
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setCameraDistance(btScalar(SCALING*50.));
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///collision configuration contains default setup for memory, collision setup
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m_collisionConfiguration = new btDefaultCollisionConfiguration();
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m_collisionConfiguration->setConvexConvexMultipointIterations();
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//m_collisionConfiguration->setConvexConvexMultipointIterations();
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///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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m_dispatcher->registerCollisionCreateFunc(BOX_SHAPE_PROXYTYPE,BOX_SHAPE_PROXYTYPE,m_collisionConfiguration->getCollisionAlgorithmCreateFunc(CONVEX_SHAPE_PROXYTYPE,CONVEX_SHAPE_PROXYTYPE));
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m_broadphase = new btDbvtBroadphase();
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@ -177,13 +100,7 @@ void BasicDemo::initPhysics()
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m_solver = sol;
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m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
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m_dynamicsWorld ->setDebugDrawer(&sDebugDrawer);
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if (m_ccdMode==USE_SPECULULATIVE_CONTACTS)
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{
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m_dynamicsWorld->getDispatchInfo().m_convexMaxDistanceUseCPT = true;
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}
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m_dynamicsWorld->setGravity(btVector3(0,-10,0));
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///create a few basic rigid bodies
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@ -258,9 +175,8 @@ void BasicDemo::initPhysics()
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btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
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btRigidBody* body = new btRigidBody(rbInfo);
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if (m_ccdMode==USE_SPECULULATIVE_CONTACTS)
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body->setContactProcessingThreshold(1e30);
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m_dynamicsWorld->addRigidBody(body);
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}
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}
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@ -269,82 +185,12 @@ void BasicDemo::initPhysics()
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}
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void BasicDemo::clientResetScene()
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{
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exitPhysics();
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initPhysics();
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}
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void BasicDemo::keyboardCallback(unsigned char key, int x, int y)
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{
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if (key=='p')
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{
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switch (m_ccdMode)
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{
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case USE_SPECULULATIVE_CONTACTS:
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{
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m_ccdMode = USE_CONSERVATIVE_ADVANCEMENT;
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break;
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}
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case USE_CONSERVATIVE_ADVANCEMENT:
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{
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m_ccdMode = USE_NO_CCD;
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break;
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};
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case USE_NO_CCD:
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default:
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{
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m_ccdMode = USE_SPECULULATIVE_CONTACTS;
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}
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};
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clientResetScene();
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} else
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{
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DemoApplication::keyboardCallback(key,x,y);
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}
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}
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void BasicDemo::shootBox(const btVector3& destination)
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{
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if (m_dynamicsWorld)
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{
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float mass = 1.f;
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btTransform startTransform;
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startTransform.setIdentity();
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btVector3 camPos = getCameraPosition();
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startTransform.setOrigin(camPos);
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setShootBoxShape ();
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btRigidBody* body = this->localCreateRigidBody(mass, startTransform,m_shootBoxShape);
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body->setLinearFactor(btVector3(1,1,1));
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//body->setRestitution(1);
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btVector3 linVel(destination[0]-camPos[0],destination[1]-camPos[1],destination[2]-camPos[2]);
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linVel.normalize();
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linVel*=m_ShootBoxInitialSpeed;
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body->getWorldTransform().setOrigin(camPos);
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body->getWorldTransform().setRotation(btQuaternion(0,0,0,1));
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body->setLinearVelocity(linVel);
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body->setAngularVelocity(btVector3(0,0,0));
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body->setContactProcessingThreshold(1e30);
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///when using m_ccdMode, disable regular CCD
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if (m_ccdMode==USE_CONSERVATIVE_ADVANCEMENT)
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{
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body->setCcdMotionThreshold(1.);
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body->setCcdSweptSphereRadius(0.5f*SCALING);
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}
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}
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}
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void BasicDemo::exitPhysics()
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{
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@ -47,20 +47,13 @@ class BasicDemo : public PlatformDemoApplication
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btConstraintSolver* m_solver;
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enum
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{
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USE_SPECULULATIVE_CONTACTS=0,
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USE_CONSERVATIVE_ADVANCEMENT,
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USE_NO_CCD
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};
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int m_ccdMode;
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btDefaultCollisionConfiguration* m_collisionConfiguration;
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public:
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BasicDemo();
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BasicDemo()
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{
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}
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virtual ~BasicDemo()
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{
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exitPhysics();
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@ -71,14 +64,8 @@ class BasicDemo : public PlatformDemoApplication
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virtual void clientMoveAndDisplay();
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void displayText();
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virtual void keyboardCallback(unsigned char key, int x, int y);
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virtual void displayCallback();
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virtual void shootBox(const btVector3& destination);
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virtual void clientResetScene();
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static DemoApplication* Create()
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{
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@ -18,62 +18,17 @@ subject to the following restrictions:
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#include "btBulletDynamicsCommon.h"
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#include "LinearMath/btHashMap.h"
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class OurValue
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{
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int m_uid;
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#include "GLDebugDrawer.h"
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static GLDebugDrawer sDebugDraw;
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public:
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OurValue(const btVector3& initialPos)
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:m_position(initialPos)
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{
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static int gUid=0;
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m_uid=gUid;
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gUid++;
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}
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btVector3 m_position;
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int getUid() const
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{
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return m_uid;
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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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///testing the btHashMap
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btHashMap<btHashKey<OurValue>,OurValue> map;
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OurValue value1(btVector3(2,3,4));
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btHashKey<OurValue> key1(value1.getUid());
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map.insert(key1,value1);
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OurValue value2(btVector3(5,6,7));
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btHashKey<OurValue> key2(value2.getUid());
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map.insert(key2,value2);
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{
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OurValue value3(btVector3(7,8,9));
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btHashKey<OurValue> key3(value3.getUid());
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map.insert(key3,value3);
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}
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map.remove(key2);
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// const OurValue* ourPtr = map.find(key1);
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// for (int i=0;i<map.size();i++)
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// {
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// OurValue* tmp = map.getAtIndex(i);
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//printf("tmp value=%f,%f,%f\n",tmp->m_position.getX(),tmp->m_position.getY(),tmp->m_position.getZ());
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// }
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BasicDemo ccdDemo;
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ccdDemo.initPhysics();
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ccdDemo.getDynamicsWorld()->setDebugDrawer(&sDebugDraw);
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#ifdef CHECK_MEMORY_LEAKS
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ccdDemo.exitPhysics();
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@ -324,10 +324,14 @@ void BenchmarkDemo::initPhysics()
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setCameraDistance(btScalar(100.));
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///collision configuration contains default setup for memory, collision setup
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m_collisionConfiguration = new btDefaultCollisionConfiguration();
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btDefaultCollisionConstructionInfo cci;
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cci.m_defaultMaxPersistentManifoldPoolSize = 32768;
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m_collisionConfiguration = new btDefaultCollisionConfiguration(cci);
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///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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m_dispatcher->setDispatcherFlags(btCollisionDispatcher::CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION);
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#if USE_PARALLEL_DISPATCHER_BENCHMARK
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@ -967,6 +971,9 @@ void BenchmarkDemo::createTest4()
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convexHullShape->addPoint(vtx*btScalar(1./scaling));
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}
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//this will enable polyhedral contact clipping, better quality, slightly slower
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//convexHullShape->initializePolyhedralFeatures();
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btTransform trans;
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trans.setIdentity();
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@ -22,7 +22,7 @@ subject to the following restrictions:
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#include "GlutStuff.h"
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#include "GLDebugDrawer.h"
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GLDebugDrawer gDebugDrawer;
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#define benchmarkDemo benchmarkDemo2
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#define benchmarkDemo benchmarkDemo4
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#endif //USE_GRAPHICAL_BENCHMARK
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@ -4,8 +4,8 @@ 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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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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@ -13,280 +13,118 @@ subject to the following restrictions:
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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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//enable just one, DO_BENCHMARK_PYRAMIDS or DO_WALL
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//#define DO_BENCHMARK_PYRAMIDS 1
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#define DO_WALL 1
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//Note: some of those settings need 'DO_WALL' demo
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//#define USE_KINEMATIC_GROUND 1
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//#define PRINT_CONTACT_STATISTICS 1
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//#define USER_DEFINED_FRICTION_MODEL 1
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//#define USE_CUSTOM_NEAR_CALLBACK 1
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//#define CENTER_OF_MASS_SHIFT 1
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//#define VERBOSE_TIMESTEPPING_CONSOLEOUTPUT 1
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//#define USE_PARALLEL_DISPATCHER 1
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//#define USE_PARALLEL_SOLVER 1 //experimental parallel solver
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//from Bullet 2.68 onwards ODE Quickstep constraint solver is optional part of Bullet, re-distributed under the ZLib license with permission of Russell L. Smith
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//#define COMPARE_WITH_QUICKSTEP 1
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#include "btBulletDynamicsCommon.h"
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#include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h"
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#include "BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h"
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#ifdef USE_PARALLEL_DISPATCHER
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#include "BulletMultiThreaded/SpuGatheringCollisionDispatcher.h"
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#ifdef _WIN32
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#include "BulletMultiThreaded/Win32ThreadSupport.h"
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#include "BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h"
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#endif //_WIN32
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#ifdef USE_LIBSPE2
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#include "../../Extras/BulletMultiThreaded/SpuLibspe2Support.h"
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#endif //USE_LIBSPE2
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#ifdef USE_PARALLEL_SOLVER
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#include "BulletMultiThreaded/SpuParallelSolver.h"
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#include "BulletMultiThreaded/SpuSolverTask/SpuParallellSolverTask.h"
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#endif //USE_PARALLEL_SOLVER
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#endif//USE_PARALLEL_DISPATCHER
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#include "LinearMath/btQuickprof.h"
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#include "LinearMath/btIDebugDraw.h"
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#include "GLDebugFont.h"
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#include <stdio.h> //printf debugging
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static float gCollisionMargin = 0.05f;
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#include "CcdPhysicsDemo.h"
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#include "GL_ShapeDrawer.h"
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#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 1.f
|
||||
|
||||
#define EXTRA_HEIGHT -10.f
|
||||
//GL_LineSegmentShape shapeE(btVector3(-50,0,0),
|
||||
// btVector3(50,0,0));
|
||||
#include "CcdPhysicsDemo.h"
|
||||
#include "GlutStuff.h"
|
||||
#include "GLDebugFont.h"
|
||||
|
||||
///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
|
||||
#include <stdio.h> //printf debugging
|
||||
#include "GLDebugDrawer.h"
|
||||
|
||||
#if 0
|
||||
extern btAlignedObjectArray<btVector3> debugContacts;
|
||||
extern btAlignedObjectArray<btVector3> debugNormals;
|
||||
#endif
|
||||
|
||||
static GLDebugDrawer sDebugDrawer;
|
||||
|
||||
|
||||
void CcdPhysicsDemo::createStack( btCollisionShape* boxShape, float halfCubeSize, int size, float zPos )
|
||||
CcdPhysicsDemo::CcdPhysicsDemo()
|
||||
:m_ccdMode(USE_CCD)
|
||||
{
|
||||
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++)
|
||||
{
|
||||
btVector3 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);
|
||||
#ifdef USER_DEFINED_FRICTION_MODEL
|
||||
///Advanced use: override the friction solver
|
||||
body->m_frictionSolverType = USER_CONTACT_SOLVER_TYPE1;
|
||||
#endif //USER_DEFINED_FRICTION_MODEL
|
||||
|
||||
}
|
||||
}
|
||||
setDebugMode(btIDebugDraw::DBG_DrawText+btIDebugDraw::DBG_NoHelpText);
|
||||
setCameraDistance(btScalar(20.));
|
||||
}
|
||||
|
||||
|
||||
////////////////////////////////////
|
||||
|
||||
|
||||
|
||||
//by default, Bullet will use its own nearcallback, but you can override it using dispatcher->setNearCallback()
|
||||
void customNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const 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;
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
//experimental jitter damping (1 = no damping, 0 = total damping once motion below threshold)
|
||||
extern btScalar gJitterVelocityDampingFactor;
|
||||
|
||||
|
||||
|
||||
|
||||
extern int gNumManifold;
|
||||
extern int gOverlappingPairs;
|
||||
|
||||
|
||||
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 = getDeltaTimeMicroseconds() * 0.000001f;
|
||||
|
||||
// printf("dt = %f: ",dt);
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
//simple dynamics world doesn't handle fixed-time-stepping
|
||||
float ms = getDeltaTimeMicroseconds();
|
||||
|
||||
///step the simulation
|
||||
if (m_dynamicsWorld)
|
||||
{
|
||||
|
||||
//#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);
|
||||
|
||||
m_dynamicsWorld->stepSimulation(1./60.);//ms / 1000000.f);
|
||||
//optional but useful: debug drawing
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
|
||||
#ifdef VERBOSE_TIMESTEPPING_CONSOLEOUTPUT
|
||||
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 //VERBOSE_TIMESTEPPING_CONSOLEOUTPUT
|
||||
|
||||
#endif
|
||||
}
|
||||
|
||||
renderme();
|
||||
|
||||
#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");
|
||||
displayText();
|
||||
#if 0
|
||||
for (int i=0;i<debugContacts.size();i++)
|
||||
{
|
||||
getDynamicsWorld()->getDebugDrawer()->drawContactPoint(debugContacts[i],debugNormals[i],0,0,btVector3(1,0,0));
|
||||
}
|
||||
#endif
|
||||
glFlush();
|
||||
//some additional debugging info
|
||||
#ifdef PRINT_CONTACT_STATISTICS
|
||||
printf("num manifolds: %i\n",gNumManifold);
|
||||
printf("num gOverlappingPairs: %i\n",gOverlappingPairs);
|
||||
|
||||
#endif //PRINT_CONTACT_STATISTICS
|
||||
|
||||
|
||||
glutSwapBuffers();
|
||||
glFlush();
|
||||
|
||||
swapBuffers();
|
||||
|
||||
}
|
||||
|
||||
|
||||
void CcdPhysicsDemo::displayText()
|
||||
{
|
||||
int lineWidth=440;
|
||||
int xStart = m_glutScreenWidth - lineWidth;
|
||||
int yStart = 20;
|
||||
|
||||
if((getDebugMode() & btIDebugDraw::DBG_DrawText)!=0)
|
||||
{
|
||||
setOrthographicProjection();
|
||||
glDisable(GL_LIGHTING);
|
||||
glColor3f(0, 0, 0);
|
||||
char buf[124];
|
||||
|
||||
glRasterPos3f(xStart, yStart, 0);
|
||||
switch (m_ccdMode)
|
||||
{
|
||||
case USE_CCD:
|
||||
{
|
||||
sprintf(buf,"Predictive contacts and motion clamping");
|
||||
break;
|
||||
}
|
||||
case USE_NO_CCD:
|
||||
{
|
||||
sprintf(buf,"CCD handling disabled");
|
||||
break;
|
||||
}
|
||||
default:
|
||||
{
|
||||
sprintf(buf,"unknown CCD setting");
|
||||
};
|
||||
};
|
||||
|
||||
GLDebugDrawString(xStart,20,buf);
|
||||
glRasterPos3f(xStart, yStart, 0);
|
||||
sprintf(buf,"Press 'p' to change CCD mode");
|
||||
yStart+=20;
|
||||
GLDebugDrawString(xStart,yStart,buf);
|
||||
glRasterPos3f(xStart, yStart, 0);
|
||||
sprintf(buf,"Press '.' or right mouse to shoot bullets");
|
||||
yStart+=20;
|
||||
GLDebugDrawString(xStart,yStart,buf);
|
||||
glRasterPos3f(xStart, yStart, 0);
|
||||
sprintf(buf,"space to restart, h(elp), t(ext), w(ire)");
|
||||
yStart+=20;
|
||||
GLDebugDrawString(xStart,yStart,buf);
|
||||
|
||||
resetPerspectiveProjection();
|
||||
glEnable(GL_LIGHTING);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
@ -294,233 +132,136 @@ void CcdPhysicsDemo::clientMoveAndDisplay()
|
||||
|
||||
void CcdPhysicsDemo::displayCallback(void) {
|
||||
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
renderme();
|
||||
|
||||
//optional but useful: debug drawing
|
||||
displayText();
|
||||
|
||||
//optional but useful: debug drawing to detect problems
|
||||
if (m_dynamicsWorld)
|
||||
{
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
}
|
||||
#if 0
|
||||
for (int i=0;i<debugContacts.size();i++)
|
||||
{
|
||||
getDynamicsWorld()->getDebugDrawer()->drawContactPoint(debugContacts[i],debugNormals[i],0,0,btVector3(1,0,0));
|
||||
}
|
||||
#endif
|
||||
|
||||
glFlush();
|
||||
glutSwapBuffers();
|
||||
swapBuffers();
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
///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()
|
||||
{
|
||||
setTexturing(true);
|
||||
setShadows(false);
|
||||
|
||||
#ifdef USE_PARALLEL_DISPATCHER
|
||||
#ifdef _WIN32
|
||||
m_threadSupportSolver = 0;
|
||||
m_threadSupportCollision = 0;
|
||||
#endif //
|
||||
#endif
|
||||
|
||||
//#define USE_GROUND_PLANE 1
|
||||
#ifdef USE_GROUND_PLANE
|
||||
m_collisionShapes.push_back(new btStaticPlaneShape(btVector3(0,1,0),0.5));
|
||||
#else
|
||||
|
||||
///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
|
||||
m_collisionShapes.push_back(new btBoxShape (btVector3(200,CUBE_HALF_EXTENTS,200)));
|
||||
#endif
|
||||
|
||||
#ifdef DO_BENCHMARK_PYRAMIDS
|
||||
m_collisionShapes.push_back(new btBoxShape (btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)));
|
||||
#else
|
||||
// m_collisionShapes.push_back(new btBoxShape (btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)));
|
||||
m_collisionShapes.push_back(new btCylinderShape (btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)));
|
||||
#endif
|
||||
setShadows(true);
|
||||
|
||||
m_ShootBoxInitialSpeed = 4000.f;
|
||||
|
||||
|
||||
|
||||
#ifdef DO_BENCHMARK_PYRAMIDS
|
||||
setCameraDistance(32.5f);
|
||||
#endif
|
||||
|
||||
#ifdef DO_BENCHMARK_PYRAMIDS
|
||||
m_azi = 90.f;
|
||||
#endif //DO_BENCHMARK_PYRAMIDS
|
||||
|
||||
m_dispatcher=0;
|
||||
///collision configuration contains default setup for memory, collision setup
|
||||
m_collisionConfiguration = new btDefaultCollisionConfiguration();
|
||||
// m_collisionConfiguration->setConvexConvexMultipointIterations();
|
||||
|
||||
#ifdef USE_PARALLEL_DISPATCHER
|
||||
int maxNumOutstandingTasks = 4;
|
||||
|
||||
#ifdef USE_WIN32_THREADING
|
||||
|
||||
m_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
|
||||
|
||||
|
||||
m_dispatcher = new SpuGatheringCollisionDispatcher(m_threadSupportCollision,maxNumOutstandingTasks,m_collisionConfiguration);
|
||||
// m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
|
||||
#else
|
||||
|
||||
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
|
||||
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
|
||||
#endif //USE_PARALLEL_DISPATCHER
|
||||
|
||||
#ifdef USE_CUSTOM_NEAR_CALLBACK
|
||||
//this is optional
|
||||
m_dispatcher->setNearCallback(customNearCallback);
|
||||
#endif
|
||||
|
||||
m_dispatcher->registerCollisionCreateFunc(BOX_SHAPE_PROXYTYPE,BOX_SHAPE_PROXYTYPE,m_collisionConfiguration->getCollisionAlgorithmCreateFunc(CONVEX_SHAPE_PROXYTYPE,CONVEX_SHAPE_PROXYTYPE));
|
||||
|
||||
m_broadphase = new btDbvtBroadphase();
|
||||
|
||||
#ifdef COMPARE_WITH_QUICKSTEP
|
||||
m_solver = new btOdeQuickstepConstraintSolver();
|
||||
#else
|
||||
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
|
||||
btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
|
||||
m_solver = sol;
|
||||
|
||||
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
|
||||
m_dynamicsWorld ->setDebugDrawer(&sDebugDrawer);
|
||||
m_dynamicsWorld->getSolverInfo().m_splitImpulse=true;
|
||||
m_dynamicsWorld->getSolverInfo().m_numIterations = 20;
|
||||
|
||||
|
||||
#ifdef USE_PARALLEL_SOLVER
|
||||
|
||||
m_threadSupportSolver = new Win32ThreadSupport(Win32ThreadSupport::Win32ThreadConstructionInfo(
|
||||
"solver",
|
||||
processSolverTask,
|
||||
createSolverLocalStoreMemory,
|
||||
maxNumOutstandingTasks));
|
||||
|
||||
m_solver = new btParallelSequentialImpulseSolver(m_threadSupportSolver,maxNumOutstandingTasks);
|
||||
#else
|
||||
btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver();
|
||||
|
||||
m_solver = solver;//new btOdeQuickstepConstraintSolver();
|
||||
|
||||
#endif //USE_PARALLEL_SOLVER
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
btDiscreteDynamicsWorld* world = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
|
||||
m_dynamicsWorld = world;
|
||||
|
||||
///SOLVER_RANDMIZE_ORDER makes cylinder stacking a bit more stable
|
||||
world->getSolverInfo().m_solverMode |= SOLVER_RANDMIZE_ORDER;
|
||||
|
||||
#ifdef USER_DEFINED_FRICTION_MODEL
|
||||
//user defined friction model is not supported in 'cache friendly' solver yet, so switch to old solver
|
||||
|
||||
world->getSolverInfo().m_solverMode = SOLVER_RANDMIZE_ORDER;
|
||||
|
||||
#endif //USER_DEFINED_FRICTION_MODEL
|
||||
|
||||
#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));
|
||||
|
||||
|
||||
|
||||
#ifdef USER_DEFINED_FRICTION_MODEL
|
||||
if (m_ccdMode==USE_CCD)
|
||||
{
|
||||
//m_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);
|
||||
m_dynamicsWorld->getDispatchInfo().m_useContinuous=true;
|
||||
} else
|
||||
{
|
||||
m_dynamicsWorld->getDispatchInfo().m_useContinuous=false;
|
||||
}
|
||||
#endif //USER_DEFINED_FRICTION_MODEL
|
||||
|
||||
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
|
||||
|
||||
///create a few basic rigid bodies
|
||||
btBoxShape* box = new btBoxShape(btVector3(btScalar(110.),btScalar(1.),btScalar(110.)));
|
||||
box->initializePolyhedralFeatures();
|
||||
btCollisionShape* groundShape = box;
|
||||
|
||||
int i;
|
||||
// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
|
||||
|
||||
m_collisionShapes.push_back(groundShape);
|
||||
m_collisionShapes.push_back(new btCylinderShape (btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)));
|
||||
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
btTransform groundTransform;
|
||||
groundTransform.setIdentity();
|
||||
//groundTransform.setOrigin(btVector3(5,5,5));
|
||||
|
||||
|
||||
for (i=0;i<gNumObjects;i++)
|
||||
//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
|
||||
{
|
||||
if (i>0)
|
||||
btScalar mass(0.);
|
||||
|
||||
//rigidbody is dynamic if and only if mass is non zero, otherwise static
|
||||
bool isDynamic = (mass != 0.f);
|
||||
|
||||
btVector3 localInertia(0,0,0);
|
||||
if (isDynamic)
|
||||
groundShape->calculateLocalInertia(mass,localInertia);
|
||||
|
||||
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
|
||||
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
|
||||
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
|
||||
btRigidBody* body = new btRigidBody(rbInfo);
|
||||
|
||||
//add the body to the dynamics world
|
||||
m_dynamicsWorld->addRigidBody(body);
|
||||
}
|
||||
|
||||
|
||||
{
|
||||
//create a few dynamic rigidbodies
|
||||
// Re-using the same collision is better for memory usage and performance
|
||||
|
||||
btCollisionShape* colShape = new btBoxShape(btVector3(1,1,1));
|
||||
|
||||
//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
|
||||
m_collisionShapes.push_back(colShape);
|
||||
|
||||
/// Create Dynamic Objects
|
||||
btTransform startTransform;
|
||||
startTransform.setIdentity();
|
||||
|
||||
btScalar mass(1.f);
|
||||
|
||||
//rigidbody is dynamic if and only if mass is non zero, otherwise static
|
||||
bool isDynamic = (mass != 0.f);
|
||||
|
||||
btVector3 localInertia(0,0,0);
|
||||
if (isDynamic)
|
||||
colShape->calculateLocalInertia(mass,localInertia);
|
||||
|
||||
int gNumObjects = 120;
|
||||
int i;
|
||||
for (i=0;i<gNumObjects;i++)
|
||||
{
|
||||
shapeIndex[i] = 1;//sphere
|
||||
}
|
||||
else
|
||||
shapeIndex[i] = 0;
|
||||
}
|
||||
btCollisionShape* shape = m_collisionShapes[1];
|
||||
|
||||
btTransform trans;
|
||||
trans.setIdentity();
|
||||
|
||||
if (useCompound)
|
||||
{
|
||||
btCompoundShape* compoundShape = new btCompoundShape();
|
||||
btCollisionShape* oldShape = m_collisionShapes[1];
|
||||
m_collisionShapes[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 = m_collisionShapes[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);
|
||||
@ -538,83 +279,91 @@ int maxNumOutstandingTasks = 4;
|
||||
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;
|
||||
|
||||
btRigidBody* body = localCreateRigidBody(mass,trans,shape);
|
||||
|
||||
|
||||
///when using m_ccdMode
|
||||
if (m_ccdMode==USE_CCD)
|
||||
{
|
||||
body->setCcdMotionThreshold(1e-7);
|
||||
body->setCcdSweptSphereRadius(0.9*CUBE_HALF_EXTENTS);
|
||||
}
|
||||
}
|
||||
|
||||
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->setCcdMotionThreshold( 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,m_collisionShapes[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(m_collisionShapes[shapeIndex[1]],halfExtents,wallHeight,zPos);
|
||||
}
|
||||
// createStack(m_collisionShapes[shapeIndex[1]],halfExtends,20,10);
|
||||
|
||||
// createStack(m_collisionShapes[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);
|
||||
m_collisionShapes.push_back(ball);
|
||||
btRigidBody* ballBody = localCreateRigidBody(10000.f,sphereTrans,ball);
|
||||
ballBody->setLinearVelocity(btVector3(0,0,-10));
|
||||
#endif
|
||||
#endif //DO_BENCHMARK_PYRAMIDS
|
||||
// clientResetScene();
|
||||
|
||||
|
||||
}
|
||||
|
||||
void CcdPhysicsDemo::clientResetScene()
|
||||
{
|
||||
exitPhysics();
|
||||
initPhysics();
|
||||
}
|
||||
|
||||
void CcdPhysicsDemo::keyboardCallback(unsigned char key, int x, int y)
|
||||
{
|
||||
if (key=='p')
|
||||
{
|
||||
switch (m_ccdMode)
|
||||
{
|
||||
case USE_CCD:
|
||||
{
|
||||
m_ccdMode = USE_NO_CCD;
|
||||
break;
|
||||
}
|
||||
case USE_NO_CCD:
|
||||
default:
|
||||
{
|
||||
m_ccdMode = USE_CCD;
|
||||
}
|
||||
};
|
||||
clientResetScene();
|
||||
} else
|
||||
{
|
||||
DemoApplication::keyboardCallback(key,x,y);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void CcdPhysicsDemo::shootBox(const btVector3& destination)
|
||||
{
|
||||
|
||||
if (m_dynamicsWorld)
|
||||
{
|
||||
float mass = 1.f;
|
||||
btTransform startTransform;
|
||||
startTransform.setIdentity();
|
||||
btVector3 camPos = getCameraPosition();
|
||||
startTransform.setOrigin(camPos);
|
||||
|
||||
setShootBoxShape ();
|
||||
|
||||
|
||||
btRigidBody* body = this->localCreateRigidBody(mass, startTransform,m_shootBoxShape);
|
||||
body->setLinearFactor(btVector3(1,1,1));
|
||||
//body->setRestitution(1);
|
||||
|
||||
btVector3 linVel(destination[0]-camPos[0],destination[1]-camPos[1],destination[2]-camPos[2]);
|
||||
linVel.normalize();
|
||||
linVel*=m_ShootBoxInitialSpeed;
|
||||
|
||||
body->getWorldTransform().setOrigin(camPos);
|
||||
body->getWorldTransform().setRotation(btQuaternion(0,0,0,1));
|
||||
body->setLinearVelocity(linVel);
|
||||
body->setAngularVelocity(btVector3(0,0,0));
|
||||
body->setContactProcessingThreshold(1e30);
|
||||
|
||||
///when using m_ccdMode, disable regular CCD
|
||||
if (m_ccdMode==USE_CCD)
|
||||
{
|
||||
body->setCcdMotionThreshold(0.0001);
|
||||
body->setCcdSweptSphereRadius(0.4f);
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
@ -622,7 +371,6 @@ int maxNumOutstandingTasks = 4;
|
||||
void CcdPhysicsDemo::exitPhysics()
|
||||
{
|
||||
|
||||
|
||||
//cleanup in the reverse order of creation/initialization
|
||||
|
||||
//remove the rigidbodies from the dynamics world and delete them
|
||||
@ -643,42 +391,23 @@ void CcdPhysicsDemo::exitPhysics()
|
||||
for (int j=0;j<m_collisionShapes.size();j++)
|
||||
{
|
||||
btCollisionShape* shape = m_collisionShapes[j];
|
||||
m_collisionShapes[j] = 0;
|
||||
delete shape;
|
||||
}
|
||||
m_collisionShapes.clear();
|
||||
|
||||
//delete dynamics world
|
||||
delete m_dynamicsWorld;
|
||||
|
||||
//delete solver
|
||||
|
||||
delete m_solver;
|
||||
#ifdef USE_PARALLEL_DISPATCHER
|
||||
#ifdef _WIN32
|
||||
if (m_threadSupportSolver)
|
||||
{
|
||||
delete m_threadSupportSolver;
|
||||
}
|
||||
#endif
|
||||
#endif
|
||||
|
||||
//delete broadphase
|
||||
|
||||
delete m_broadphase;
|
||||
|
||||
//delete dispatcher
|
||||
|
||||
delete m_dispatcher;
|
||||
|
||||
#ifdef USE_PARALLEL_DISPATCHER
|
||||
#ifdef _WIN32
|
||||
if (m_threadSupportCollision)
|
||||
{
|
||||
delete m_threadSupportCollision;
|
||||
}
|
||||
#endif
|
||||
#endif
|
||||
|
||||
delete m_collisionConfiguration;
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
@ -12,10 +12,17 @@ subject to the following restrictions:
|
||||
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.
|
||||
*/
|
||||
#ifndef CCD_PHYSICS_DEMO_H
|
||||
#define CCD_PHYSICS_DEMO_H
|
||||
#ifndef BT_CCD_PHYSICS_DEMO_H
|
||||
#define BT_CCD_PHYSICS_DEMO_H
|
||||
|
||||
#ifdef _WINDOWS
|
||||
#include "Win32DemoApplication.h"
|
||||
#define PlatformDemoApplication Win32DemoApplication
|
||||
#else
|
||||
#include "GlutDemoApplication.h"
|
||||
#define PlatformDemoApplication GlutDemoApplication
|
||||
#endif
|
||||
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
|
||||
class btBroadphaseInterface;
|
||||
@ -26,9 +33,9 @@ class btConstraintSolver;
|
||||
struct btCollisionAlgorithmCreateFunc;
|
||||
class btDefaultCollisionConfiguration;
|
||||
|
||||
///CcdPhysicsDemo is good starting point for learning the code base and porting.
|
||||
|
||||
///CcdPhysicsDemo shows basic stacking using Bullet physics, and allows toggle of Ccd (using key '1')
|
||||
class CcdPhysicsDemo : public GlutDemoApplication
|
||||
class CcdPhysicsDemo : public PlatformDemoApplication
|
||||
{
|
||||
|
||||
//keep the collision shapes, for deletion/cleanup
|
||||
@ -38,36 +45,39 @@ class CcdPhysicsDemo : public GlutDemoApplication
|
||||
|
||||
btCollisionDispatcher* m_dispatcher;
|
||||
|
||||
#ifdef USE_PARALLEL_DISPATCHER
|
||||
#ifdef WIN32
|
||||
class Win32ThreadSupport* m_threadSupportCollision;
|
||||
class Win32ThreadSupport* m_threadSupportSolver;
|
||||
#endif
|
||||
#endif
|
||||
|
||||
btConstraintSolver* m_solver;
|
||||
|
||||
btCollisionAlgorithmCreateFunc* m_boxBoxCF;
|
||||
enum
|
||||
{
|
||||
USE_CCD=1,
|
||||
USE_NO_CCD
|
||||
};
|
||||
int m_ccdMode;
|
||||
|
||||
btDefaultCollisionConfiguration* m_collisionConfiguration;
|
||||
|
||||
|
||||
public:
|
||||
|
||||
void initPhysics();
|
||||
|
||||
void exitPhysics();
|
||||
CcdPhysicsDemo();
|
||||
|
||||
virtual ~CcdPhysicsDemo()
|
||||
{
|
||||
exitPhysics();
|
||||
}
|
||||
void initPhysics();
|
||||
|
||||
void exitPhysics();
|
||||
|
||||
virtual void clientMoveAndDisplay();
|
||||
|
||||
void displayText();
|
||||
|
||||
virtual void keyboardCallback(unsigned char key, int x, int y);
|
||||
|
||||
virtual void displayCallback();
|
||||
|
||||
void createStack( btCollisionShape* boxShape, float halfCubeSize, int size, float zPos );
|
||||
virtual void shootBox(const btVector3& destination);
|
||||
virtual void clientResetScene();
|
||||
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
@ -77,7 +87,8 @@ class CcdPhysicsDemo : public GlutDemoApplication
|
||||
return demo;
|
||||
}
|
||||
|
||||
|
||||
};
|
||||
|
||||
#endif //CCD_PHYSICS_DEMO_H
|
||||
#endif //BT_CCD_PHYSICS_DEMO_H
|
||||
|
||||
|
||||
@ -68,6 +68,7 @@ void CharacterDemo::initPhysics()
|
||||
|
||||
m_constraintSolver = new btSequentialImpulseConstraintSolver();
|
||||
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_constraintSolver,m_collisionConfiguration);
|
||||
m_dynamicsWorld->getDispatchInfo().m_allowedCcdPenetration=0.0001f;
|
||||
|
||||
#ifdef DYNAMIC_CHARACTER_CONTROLLER
|
||||
m_character = new DynamicCharacterController ();
|
||||
|
||||
@ -20,22 +20,7 @@ subject to the following restrictions:
|
||||
#include "GL_ShapeDrawer.h"
|
||||
#include "GlutStuff.h"
|
||||
|
||||
//#define BATCH_RAYCASTER
|
||||
|
||||
#ifdef BATCH_RAYCASTER
|
||||
#include "BulletMultiThreaded/SpuBatchRaycaster.h"
|
||||
static SpuBatchRaycaster* gBatchRaycaster = NULL;
|
||||
|
||||
|
||||
#ifdef USE_LIBSPE2
|
||||
#include "BulletMultiThreaded/SpuLibspe2Support.h"
|
||||
#elif defined (_WIN32)
|
||||
#include "BulletMultiThreaded/Win32ThreadSupport.h"
|
||||
#else
|
||||
//other platforms run the parallel code sequentially (until pthread support or other parallel implementation is added)
|
||||
#include "BulletMultiThreaded/SequentialThreadSupport.h"
|
||||
#endif //USE_LIBSPE2
|
||||
#endif //BATCH_RAYCASTER
|
||||
static GLDebugDrawer sDebugDraw;
|
||||
|
||||
static btVector3* gVertices=0;
|
||||
static int* gIndices=0;
|
||||
@ -290,6 +275,7 @@ void ConcaveRaycastDemo::keyboardCallback(unsigned char key, int x, int y)
|
||||
|
||||
void ConcaveRaycastDemo::initPhysics()
|
||||
{
|
||||
m_ShootBoxInitialSpeed = 1000;
|
||||
#define TRISIZE 10.f
|
||||
|
||||
|
||||
@ -346,7 +332,8 @@ void ConcaveRaycastDemo::initPhysics()
|
||||
m_broadphase = new btAxisSweep3(worldMin,worldMax);
|
||||
m_solver = new btSequentialImpulseConstraintSolver();
|
||||
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
|
||||
|
||||
m_dynamicsWorld->getSolverInfo().m_splitImpulse=true;
|
||||
m_dynamicsWorld->setDebugDrawer(&sDebugDraw);
|
||||
|
||||
float mass = 0.f;
|
||||
btTransform startTransform;
|
||||
@ -387,6 +374,41 @@ int maxNumOutstandingTasks = 4;
|
||||
|
||||
raycastBar = btRaycastBar (4000.0, 0.0);
|
||||
//raycastBar = btRaycastBar (true, 40.0, -50.0, 50.0);
|
||||
|
||||
|
||||
|
||||
|
||||
{
|
||||
btVector3 camPos(0.000000,10.260604,-28.190779);
|
||||
btVector3 destination(6958.333333,-8539.096384,7501.875480);
|
||||
|
||||
float mass = 1.f;
|
||||
btTransform startTransform;
|
||||
startTransform.setIdentity();
|
||||
startTransform.setOrigin(camPos);
|
||||
|
||||
setShootBoxShape ();
|
||||
|
||||
btRigidBody* body = this->localCreateRigidBody(mass, startTransform,m_shootBoxShape);
|
||||
body->setLinearFactor(btVector3(1,1,1));
|
||||
//body->setRestitution(1);
|
||||
|
||||
btVector3 linVel(destination[0]-camPos[0],destination[1]-camPos[1],destination[2]-camPos[2]);
|
||||
linVel.normalize();
|
||||
linVel*=m_ShootBoxInitialSpeed;
|
||||
|
||||
body->getWorldTransform().setOrigin(camPos);
|
||||
body->getWorldTransform().setRotation(btQuaternion(0,0,0,1));
|
||||
body->setLinearVelocity(linVel);
|
||||
body->setAngularVelocity(btVector3(0,0,0));
|
||||
body->setCcdMotionThreshold(0.5);
|
||||
body->setCcdSweptSphereRadius(0.9f);
|
||||
printf("shootBox uid=%d\n", body->getBroadphaseHandle()->getUid());
|
||||
printf("camPos=%f,%f,%f\n",camPos.getX(),camPos.getY(),camPos.getZ());
|
||||
printf("destination=%f,%f,%f\n",destination.getX(),destination.getY(),destination.getZ());
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
void ConcaveRaycastDemo::clientMoveAndDisplay()
|
||||
@ -411,7 +433,7 @@ void ConcaveRaycastDemo::clientMoveAndDisplay()
|
||||
m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(staticBody->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher());
|
||||
}
|
||||
|
||||
m_dynamicsWorld->stepSimulation(dt);
|
||||
m_dynamicsWorld->stepSimulation(1./60.,0);
|
||||
|
||||
//optional but useful: debug drawing
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
@ -432,6 +454,10 @@ void ConcaveRaycastDemo::displayCallback(void) {
|
||||
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
//optional but useful: debug drawing
|
||||
if (m_dynamicsWorld)
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
|
||||
renderme();
|
||||
raycastBar.draw ();
|
||||
glFlush();
|
||||
|
||||
@ -39,7 +39,7 @@ subject to the following restrictions:
|
||||
|
||||
#define TaruVtxCount 43
|
||||
|
||||
static float TaruVtx[] = {
|
||||
static btScalar TaruVtx[] = {
|
||||
1.08664f,-1.99237f,0.0f,
|
||||
0.768369f,-1.99237f,-0.768369f,
|
||||
1.28852f,1.34412e-007f,-1.28852f,
|
||||
@ -246,7 +246,7 @@ int main(int argc,char** argv)
|
||||
//btVector3 points1[5]={btVector3(1,0,0),btVector3(0,1,0),btVector3(0,0,1),btVector3(0,0,-1),btVector3(-1,-1,0)};
|
||||
|
||||
btConvexHullShape hullA(&points0[0].getX(),3);
|
||||
btConvexHullShape hullB(TaruVtx,TaruVtxCount,3*sizeof(float));
|
||||
btConvexHullShape hullB(TaruVtx,TaruVtxCount,3*sizeof(btScalar));
|
||||
|
||||
shapePtr[0] = &hullA;
|
||||
shapePtr[1] = &hullB;
|
||||
@ -276,7 +276,7 @@ void clientDisplay(void) {
|
||||
|
||||
//GL_ShapeDrawer::drawCoordSystem();
|
||||
|
||||
float m[16];
|
||||
btScalar m[16];
|
||||
int i;
|
||||
#ifdef USE_GJK
|
||||
btGjkEpaPenetrationDepthSolver epa;
|
||||
|
||||
@ -76,7 +76,6 @@ void FractureDemo::initPhysics()
|
||||
btFractureDynamicsWorld* fractureWorld = new btFractureDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
|
||||
m_dynamicsWorld = fractureWorld;
|
||||
|
||||
m_dynamicsWorld->getDispatchInfo().m_convexMaxDistanceUseCPT = true;
|
||||
m_ShootBoxInitialSpeed=100;
|
||||
|
||||
//m_splitImpulse removes the penetration resolution from the applied impulse, otherwise objects might fracture due to deep penetrations.
|
||||
|
||||
@ -27,8 +27,8 @@ void btFractureBody::recomputeConnectivity(btCollisionWorld* world)
|
||||
}
|
||||
virtual btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObject* colObj0,int partId0,int index0,const btCollisionObject* colObj1,int partId1,int index1)
|
||||
{
|
||||
//@todo additional check on cp?
|
||||
m_connected = true;
|
||||
if (cp.getDistance()<=0)
|
||||
m_connected = true;
|
||||
return 1.f;
|
||||
}
|
||||
};
|
||||
|
||||
@ -342,8 +342,7 @@ void InternalEdgeDemo::initPhysics()
|
||||
#endif //USE_TRIMESH_SHAPE
|
||||
|
||||
m_collisionConfiguration = new btDefaultCollisionConfiguration();
|
||||
m_collisionConfiguration->setConvexConvexMultipointIterations(10,5);
|
||||
|
||||
|
||||
|
||||
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
|
||||
|
||||
@ -367,7 +366,9 @@ void InternalEdgeDemo::initPhysics()
|
||||
startTransform.setIdentity();
|
||||
startTransform.setOrigin(btVector3(0,-2,0));
|
||||
|
||||
btCollisionShape* colShape = new btBoxShape(btVector3(1,1,1));
|
||||
btBoxShape* colShape = new btBoxShape(btVector3(1,1,1));
|
||||
colShape->initializePolyhedralFeatures();
|
||||
|
||||
//colShape->setMargin(0.f);
|
||||
colShape->setMargin(0.1f);
|
||||
|
||||
@ -399,7 +400,7 @@ void InternalEdgeDemo::initPhysics()
|
||||
staticBody->setCollisionFlags(staticBody->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
|
||||
|
||||
getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
|
||||
setDebugMode(btIDebugDraw::DBG_DrawText|btIDebugDraw::DBG_NoHelpText);
|
||||
setDebugMode(btIDebugDraw::DBG_DrawText|btIDebugDraw::DBG_NoHelpText+btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints);
|
||||
|
||||
|
||||
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
|
||||
@ -482,9 +483,7 @@ void InternalEdgeDemo::clientMoveAndDisplay()
|
||||
//m_dynamicsWorld->stepSimulation(1./60.,100,1./800.);
|
||||
//m_dynamicsWorld->stepSimulation(1./60.,0);
|
||||
|
||||
//optional but useful: debug drawing
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
|
||||
|
||||
int lineWidth=450;
|
||||
int xStart = m_glutScreenWidth - lineWidth;
|
||||
int yStart = 20;
|
||||
@ -519,6 +518,10 @@ void InternalEdgeDemo::clientMoveAndDisplay()
|
||||
|
||||
renderme();
|
||||
|
||||
//optional but useful: debug drawing
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
|
||||
|
||||
glFlush();
|
||||
swapBuffers();
|
||||
|
||||
|
||||
@ -17,8 +17,7 @@ subject to the following restrictions:
|
||||
#ifndef BMPLOADER_H_
|
||||
#define BMPLOADER_H_
|
||||
|
||||
#include <cstdlib>
|
||||
#include <iostream>
|
||||
#include <stdlib.h>
|
||||
|
||||
namespace amd
|
||||
{
|
||||
|
||||
@ -182,7 +182,7 @@ class piece_of_cloth
|
||||
glBindTexture(GL_TEXTURE_2D, 0);
|
||||
}
|
||||
else {
|
||||
std::cout << "ERROR: could not load bitmap, using placeholder " << std::endl;
|
||||
printf("ERROR: could not load bitmap, using placeholder\n");
|
||||
|
||||
GLubyte* image=new GLubyte[256*256*3];
|
||||
for(int y=0;y<256;++y)
|
||||
|
||||
@ -17,14 +17,10 @@ subject to the following restrictions:
|
||||
#include "clstuff.h"
|
||||
#include "gl_win.h"
|
||||
|
||||
#include <cstdlib>
|
||||
#include <iostream>
|
||||
#include <fstream>
|
||||
#include <string>
|
||||
#include <iterator>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <math.h>
|
||||
#include <cmath>
|
||||
#include <cstring>
|
||||
#include <string.h>
|
||||
|
||||
|
||||
//#ifndef _WIN32 && !defined(__APPLE__)
|
||||
|
||||
@ -540,7 +540,9 @@ void DemoApplication::setShootBoxShape ()
|
||||
{
|
||||
if (!m_shootBoxShape)
|
||||
{
|
||||
m_shootBoxShape = new btBoxShape(btVector3(.5f,.5f,.5f));
|
||||
btBoxShape* box = new btBoxShape(btVector3(.5f,.5f,.5f));
|
||||
box->initializePolyhedralFeatures();
|
||||
m_shootBoxShape = box;
|
||||
}
|
||||
}
|
||||
|
||||
@ -569,8 +571,11 @@ void DemoApplication::shootBox(const btVector3& destination)
|
||||
body->getWorldTransform().setRotation(btQuaternion(0,0,0,1));
|
||||
body->setLinearVelocity(linVel);
|
||||
body->setAngularVelocity(btVector3(0,0,0));
|
||||
body->setCcdMotionThreshold(1.);
|
||||
body->setCcdSweptSphereRadius(0.2f);
|
||||
body->setCcdMotionThreshold(0.5);
|
||||
body->setCcdSweptSphereRadius(0.9f);
|
||||
// printf("shootBox uid=%d\n", body->getBroadphaseHandle()->getUid());
|
||||
// printf("camPos=%f,%f,%f\n",camPos.getX(),camPos.getY(),camPos.getZ());
|
||||
// printf("destination=%f,%f,%f\n",destination.getX(),destination.getY(),destination.getZ());
|
||||
|
||||
}
|
||||
}
|
||||
@ -1318,7 +1323,7 @@ void DemoApplication::renderme()
|
||||
resetPerspectiveProjection();
|
||||
}
|
||||
|
||||
glEnable(GL_LIGHTING);
|
||||
glDisable(GL_LIGHTING);
|
||||
|
||||
|
||||
}
|
||||
|
||||
@ -860,7 +860,6 @@ bool btBulletWorldImporter::convertAllObjects( bParse::btBulletFile* bulletFile
|
||||
}
|
||||
}
|
||||
|
||||
printf("bla");
|
||||
}
|
||||
|
||||
|
||||
|
||||
@ -40,15 +40,14 @@ struct btDispatcherInfo
|
||||
m_stepCount(0),
|
||||
m_dispatchFunc(DISPATCH_DISCRETE),
|
||||
m_timeOfImpact(btScalar(1.)),
|
||||
m_useContinuous(false),
|
||||
m_useContinuous(true),
|
||||
m_debugDraw(0),
|
||||
m_enableSatConvex(true),
|
||||
m_enableSatConvex(false),
|
||||
m_enableSPU(true),
|
||||
m_useEpa(true),
|
||||
m_allowedCcdPenetration(btScalar(0.04)),
|
||||
m_useConvexConservativeDistanceUtil(false),
|
||||
m_convexConservativeDistanceThreshold(0.0f),
|
||||
m_convexMaxDistanceUseCPT(false),
|
||||
m_stackAllocator(0)
|
||||
{
|
||||
|
||||
@ -65,7 +64,6 @@ struct btDispatcherInfo
|
||||
btScalar m_allowedCcdPenetration;
|
||||
bool m_useConvexConservativeDistanceUtil;
|
||||
btScalar m_convexConservativeDistanceThreshold;
|
||||
bool m_convexMaxDistanceUseCPT;
|
||||
btStackAlloc* m_stackAllocator;
|
||||
};
|
||||
|
||||
|
||||
@ -155,7 +155,7 @@ void btCollisionWorld::updateSingleAabb(btCollisionObject* colObj)
|
||||
minAabb -= contactThreshold;
|
||||
maxAabb += contactThreshold;
|
||||
|
||||
if(getDispatchInfo().m_convexMaxDistanceUseCPT)
|
||||
if(getDispatchInfo().m_useContinuous && colObj->getInternalType()==btCollisionObject::CO_RIGID_BODY)
|
||||
{
|
||||
btVector3 minAabb2,maxAabb2;
|
||||
colObj->getCollisionShape()->getAabb(colObj->getInterpolationWorldTransform(),minAabb2,maxAabb2);
|
||||
@ -1452,12 +1452,14 @@ void btCollisionWorld::debugDrawWorld()
|
||||
|
||||
btVector3 minAabb2,maxAabb2;
|
||||
|
||||
colObj->getCollisionShape()->getAabb(colObj->getInterpolationWorldTransform(),minAabb2,maxAabb2);
|
||||
minAabb2 -= contactThreshold;
|
||||
maxAabb2 += contactThreshold;
|
||||
|
||||
minAabb.setMin(minAabb2);
|
||||
maxAabb.setMax(maxAabb2);
|
||||
if(colObj->getInternalType()==btCollisionObject::CO_RIGID_BODY)
|
||||
{
|
||||
colObj->getCollisionShape()->getAabb(colObj->getInterpolationWorldTransform(),minAabb2,maxAabb2);
|
||||
minAabb2 -= contactThreshold;
|
||||
maxAabb2 += contactThreshold;
|
||||
minAabb.setMin(minAabb2);
|
||||
maxAabb.setMax(maxAabb2);
|
||||
}
|
||||
|
||||
m_debugDrawer->drawAabb(minAabb,maxAabb,colorvec);
|
||||
}
|
||||
|
||||
@ -361,13 +361,14 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
|
||||
} else
|
||||
#endif //USE_SEPDISTANCE_UTIL2
|
||||
{
|
||||
if (dispatchInfo.m_convexMaxDistanceUseCPT)
|
||||
{
|
||||
input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactProcessingThreshold();
|
||||
} else
|
||||
{
|
||||
input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold();
|
||||
}
|
||||
//if (dispatchInfo.m_convexMaxDistanceUseCPT)
|
||||
//{
|
||||
// input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactProcessingThreshold();
|
||||
//} else
|
||||
//{
|
||||
input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold();
|
||||
// }
|
||||
|
||||
input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
|
||||
}
|
||||
|
||||
|
||||
@ -68,9 +68,53 @@ void btContactConstraint::buildJacobian()
|
||||
#include "LinearMath/btMinMax.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
|
||||
|
||||
#define ASSERT2 btAssert
|
||||
|
||||
#define USE_INTERNAL_APPLY_IMPULSE 1
|
||||
|
||||
//response between two dynamic objects without friction, assuming 0 penetration depth
|
||||
btScalar resolveSingleCollision(
|
||||
btRigidBody* body1,
|
||||
btCollisionObject* colObj2,
|
||||
const btVector3& contactPositionWorld,
|
||||
const btVector3& contactNormalOnB,
|
||||
const btContactSolverInfo& solverInfo,
|
||||
btScalar distance)
|
||||
{
|
||||
btRigidBody* body2 = btRigidBody::upcast(colObj2);
|
||||
|
||||
|
||||
const btVector3& normal = contactNormalOnB;
|
||||
|
||||
btVector3 rel_pos1 = contactPositionWorld - body1->getWorldTransform().getOrigin();
|
||||
btVector3 rel_pos2 = contactPositionWorld - colObj2->getWorldTransform().getOrigin();
|
||||
|
||||
btVector3 vel1 = body1->getVelocityInLocalPoint(rel_pos1);
|
||||
btVector3 vel2 = body2? body2->getVelocityInLocalPoint(rel_pos2) : btVector3(0,0,0);
|
||||
btVector3 vel = vel1 - vel2;
|
||||
btScalar rel_vel;
|
||||
rel_vel = normal.dot(vel);
|
||||
|
||||
btScalar combinedRestitution = body1->getRestitution() * colObj2->getRestitution();
|
||||
btScalar restitution = combinedRestitution* -rel_vel;
|
||||
|
||||
btScalar positionalError = solverInfo.m_erp *-distance /solverInfo.m_timeStep ;
|
||||
btScalar velocityError = -(1.0f + restitution) * rel_vel;// * damping;
|
||||
btScalar denom0 = body1->computeImpulseDenominator(contactPositionWorld,normal);
|
||||
btScalar denom1 = body2? body2->computeImpulseDenominator(contactPositionWorld,normal) : 0.f;
|
||||
btScalar relaxation = 1.f;
|
||||
btScalar jacDiagABInv = relaxation/(denom0+denom1);
|
||||
|
||||
btScalar penetrationImpulse = positionalError * jacDiagABInv;
|
||||
btScalar velocityImpulse = velocityError * jacDiagABInv;
|
||||
|
||||
btScalar normalImpulse = penetrationImpulse+velocityImpulse;
|
||||
normalImpulse = 0.f > normalImpulse ? 0.f: normalImpulse;
|
||||
|
||||
body1->applyImpulse(normal*(normalImpulse), rel_pos1);
|
||||
if (body2)
|
||||
body2->applyImpulse(-normal*(normalImpulse), rel_pos2);
|
||||
|
||||
return normalImpulse;
|
||||
}
|
||||
|
||||
|
||||
//bilateral constraint between two dynamic objects
|
||||
@ -83,7 +127,7 @@ void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
|
||||
|
||||
|
||||
btScalar normalLenSqr = normal.length2();
|
||||
ASSERT2(btFabs(normalLenSqr) < btScalar(1.1));
|
||||
btAssert(btFabs(normalLenSqr) < btScalar(1.1));
|
||||
if (normalLenSqr > btScalar(1.1))
|
||||
{
|
||||
impulse = btScalar(0.);
|
||||
|
||||
@ -57,6 +57,9 @@ public:
|
||||
|
||||
};
|
||||
|
||||
///very basic collision resolution without friction
|
||||
btScalar resolveSingleCollision(btRigidBody* body1, class btCollisionObject* colObj2, const btVector3& contactPositionWorld,const btVector3& contactNormalOnB, const struct btContactSolverInfo& solverInfo,btScalar distance);
|
||||
|
||||
|
||||
///resolveSingleBilateral is an obsolete methods used for vehicle friction between two dynamic objects
|
||||
void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
|
||||
|
||||
@ -35,6 +35,8 @@ subject to the following restrictions:
|
||||
#include "BulletDynamics/ConstraintSolver/btConeTwistConstraint.h"
|
||||
#include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h"
|
||||
#include "BulletDynamics/ConstraintSolver/btSliderConstraint.h"
|
||||
#include "BulletDynamics/ConstraintSolver/btContactConstraint.h"
|
||||
|
||||
|
||||
#include "LinearMath/btIDebugDraw.h"
|
||||
#include "BulletCollision/CollisionShapes/btSphereShape.h"
|
||||
@ -325,7 +327,8 @@ void btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
|
||||
///perform collision detection
|
||||
performDiscreteCollisionDetection();
|
||||
|
||||
addSpeculativeContacts(timeStep);
|
||||
if (getDispatchInfo().m_useContinuous)
|
||||
addSpeculativeContacts(timeStep);
|
||||
|
||||
|
||||
calculateSimulationIslands();
|
||||
@ -851,36 +854,93 @@ void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
|
||||
|
||||
if (body->isActive() && (!body->isStaticOrKinematicObject()))
|
||||
{
|
||||
|
||||
body->predictIntegratedTransform(timeStep, predictedTrans);
|
||||
|
||||
btScalar squareMotion = (predictedTrans.getOrigin()-body->getWorldTransform().getOrigin()).length2();
|
||||
|
||||
if (body->getCcdSquareMotionThreshold() && body->getCcdSquareMotionThreshold() < squareMotion)
|
||||
|
||||
|
||||
if (getDispatchInfo().m_useContinuous && body->getCcdSquareMotionThreshold() && body->getCcdSquareMotionThreshold() < squareMotion)
|
||||
{
|
||||
BT_PROFILE("CCD motion clamping");
|
||||
if (body->getCollisionShape()->isConvex())
|
||||
{
|
||||
gNumClampedCcdMotions++;
|
||||
|
||||
#ifdef USE_STATIC_ONLY
|
||||
class StaticOnlyCallback : public btClosestNotMeConvexResultCallback
|
||||
{
|
||||
public:
|
||||
|
||||
StaticOnlyCallback (btCollisionObject* me,const btVector3& fromA,const btVector3& toA,btOverlappingPairCache* pairCache,btDispatcher* dispatcher) :
|
||||
btClosestNotMeConvexResultCallback(me,fromA,toA,pairCache,dispatcher)
|
||||
{
|
||||
}
|
||||
|
||||
virtual bool needsCollision(btBroadphaseProxy* proxy0) const
|
||||
{
|
||||
btCollisionObject* otherObj = (btCollisionObject*) proxy0->m_clientObject;
|
||||
if (!otherObj->isStaticOrKinematicObject())
|
||||
return false;
|
||||
return btClosestNotMeConvexResultCallback::needsCollision(proxy0);
|
||||
}
|
||||
};
|
||||
|
||||
StaticOnlyCallback sweepResults(body,body->getWorldTransform().getOrigin(),predictedTrans.getOrigin(),getBroadphase()->getOverlappingPairCache(),getDispatcher());
|
||||
#else
|
||||
btClosestNotMeConvexResultCallback sweepResults(body,body->getWorldTransform().getOrigin(),predictedTrans.getOrigin(),getBroadphase()->getOverlappingPairCache(),getDispatcher());
|
||||
#endif
|
||||
//btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
|
||||
btSphereShape tmpSphere(body->getCcdSweptSphereRadius());//btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
|
||||
sweepResults.m_allowedPenetration=getDispatchInfo().m_allowedCcdPenetration;
|
||||
|
||||
sweepResults.m_collisionFilterGroup = body->getBroadphaseProxy()->m_collisionFilterGroup;
|
||||
sweepResults.m_collisionFilterMask = body->getBroadphaseProxy()->m_collisionFilterMask;
|
||||
btTransform modifiedPredictedTrans = predictedTrans;
|
||||
modifiedPredictedTrans.setBasis(body->getWorldTransform().getBasis());
|
||||
|
||||
convexSweepTest(&tmpSphere,body->getWorldTransform(),predictedTrans,sweepResults);
|
||||
convexSweepTest(&tmpSphere,body->getWorldTransform(),modifiedPredictedTrans,sweepResults);
|
||||
if (sweepResults.hasHit() && (sweepResults.m_closestHitFraction < 1.f))
|
||||
{
|
||||
|
||||
//printf("clamped integration to hit fraction = %f\n",fraction);
|
||||
body->setHitFraction(sweepResults.m_closestHitFraction);
|
||||
body->predictIntegratedTransform(timeStep*body->getHitFraction(), predictedTrans);
|
||||
body->setHitFraction(0.f);
|
||||
body->setLinearVelocity(btVector3(0,0.1,0));
|
||||
body->proceedToTransform( predictedTrans);
|
||||
|
||||
// printf("clamped integration to hit fraction = %f\n",fraction);
|
||||
#if 0
|
||||
btVector3 linVel = body->getLinearVelocity();
|
||||
|
||||
btScalar maxSpeed = body->getCcdMotionThreshold()/getSolverInfo().m_timeStep;
|
||||
btScalar maxSpeedSqr = maxSpeed*maxSpeed;
|
||||
if (linVel.length2()>maxSpeedSqr)
|
||||
{
|
||||
linVel.normalize();
|
||||
linVel*= maxSpeed;
|
||||
body->setLinearVelocity(linVel);
|
||||
btScalar ms2 = body->getLinearVelocity().length2();
|
||||
body->predictIntegratedTransform(timeStep, predictedTrans);
|
||||
|
||||
btScalar sm2 = (predictedTrans.getOrigin()-body->getWorldTransform().getOrigin()).length2();
|
||||
btScalar smt = body->getCcdSquareMotionThreshold();
|
||||
printf("sm2=%f\n",sm2);
|
||||
}
|
||||
#else
|
||||
//response between two dynamic objects without friction, assuming 0 penetration depth
|
||||
btScalar appliedImpulse = 0.f;
|
||||
btScalar depth = 0.f;
|
||||
appliedImpulse = resolveSingleCollision(body,sweepResults.m_hitCollisionObject,sweepResults.m_hitPointWorld,sweepResults.m_hitNormalWorld,getSolverInfo(), depth);
|
||||
|
||||
|
||||
#endif
|
||||
|
||||
continue;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
body->proceedToTransform( predictedTrans);
|
||||
}
|
||||
}
|
||||
|
||||
@ -102,9 +102,14 @@ bool ManifoldResultAddContactPoint(const btVector3& normalOnBInWorld,
|
||||
#ifdef DEBUG_SPU_COLLISION_DETECTION
|
||||
spu_printf("SPU: contactTreshold %f\n",contactTreshold);
|
||||
#endif //DEBUG_SPU_COLLISION_DETECTION
|
||||
if (depth > manifoldPtr->getContactBreakingThreshold())
|
||||
//if (depth > manifoldPtr->getContactBreakingThreshold())
|
||||
// return false;
|
||||
|
||||
if (depth > manifoldPtr->getContactProcessingThreshold())
|
||||
return false;
|
||||
|
||||
|
||||
|
||||
btVector3 pointA;
|
||||
btVector3 localA;
|
||||
btVector3 localB;
|
||||
@ -156,6 +161,7 @@ bool ManifoldResultAddContactPoint(const btVector3& normalOnBInWorld,
|
||||
(*gContactAddedCallback)(newPt,m_body0,m_partId0,m_index0,m_body1,m_partId1,m_index1);
|
||||
}
|
||||
*/
|
||||
|
||||
manifoldPtr->addManifoldPoint(newPt);
|
||||
return true;
|
||||
|
||||
|
||||
@ -1138,6 +1138,9 @@ btScalar btParallelConstraintSolver::solveGroup(btCollisionObject** bodies1,int
|
||||
|
||||
pfxSetBroadphaseFlag(pair,0);
|
||||
int contactId = m-offsetContactManifolds;
|
||||
//likely the contact pool is not contiguous, make sure to allocate large enough contact pool
|
||||
btAssert(contactId>=0);
|
||||
btAssert(contactId<dispatcher->getInternalManifoldPool()->getUsedCount());
|
||||
|
||||
pfxSetContactId(pair,contactId);
|
||||
pfxSetNumConstraints(pair,numPosPoints);//manifoldPtr[i]->getNumContacts());
|
||||
|
||||
@ -25,8 +25,6 @@ subject to the following restrictions:
|
||||
|
||||
#include <math.h>
|
||||
#include <stdlib.h>//size_t for MSVC 6.0
|
||||
#include <cstdlib>
|
||||
#include <cfloat>
|
||||
#include <float.h>
|
||||
|
||||
/* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/
|
||||
|
||||
Loading…
Reference in New Issue
Block a user