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MultiThreadedDemo: make it possible to dial in a single large island, and

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tilt the ground and adjust rolling friction
This commit is contained in:
Lunkhound 2017-06-05 14:43:41 -07:00
parent afd6db7c40
commit e85e2ee127
1 changed files with 105 additions and 30 deletions
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135
examples/MultiThreadedDemo/MultiThreadedDemo.cpp
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@ -13,28 +13,35 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#include "btBulletDynamicsCommon.h"
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btIDebugDraw.h"
#include "MultiThreadedDemo.h"
#include "CommonRigidBodyMTBase.h"
#include "../CommonInterfaces/CommonParameterInterface.h"
#include "btBulletDynamicsCommon.h"
#include "btBulletCollisionCommon.h"
#include "LinearMath/btAlignedObjectArray.h"
#include <stdio.h> //printf debugging
#include <algorithm>
class btCollisionShape;
#include "CommonRigidBodyMTBase.h"
#include "MultiThreadedDemo.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "btBulletCollisionCommon.h"
static btScalar gSliderStackRows = 8.0f;
static btScalar gSliderStackColumns = 6.0f;
static btScalar gSliderStackHeight = 10.0f;
static btScalar gSliderStackWidth = 1.0f;
static btScalar gSliderGroundHorizontalAmplitude = 0.0f;
static btScalar gSliderGroundVerticalAmplitude = 0.0f;
static btScalar gSliderGroundTilt = 0.0f;
static btScalar gSliderRollingFriction = 0.0f;
static bool gSpheresNotBoxes = false;
static void boolPtrButtonCallback( int buttonId, bool buttonState, void* userPointer )
{
if ( bool* val = static_cast<bool*>( userPointer ) )
{
*val = !*val;
}
}
/// MultiThreadedDemo shows how to setup and use multithreading
class MultiThreadedDemo : public CommonRigidBodyMTBase
@ -50,8 +57,9 @@ class MultiThreadedDemo : public CommonRigidBodyMTBase
btRigidBody* m_groundBody;
btTransform m_groundStartXf;
float m_groundMovePhase;
float m_prevRollingFriction;
void createStack( const btVector3& pos, btCollisionShape* boxShape, const btVector3& halfBoxSize, int size );
void createStack( const btTransform& trans, btCollisionShape* boxShape, const btVector3& halfBoxSize, int size, int width );
void createSceneObjects();
void destroySceneObjects();
@ -62,10 +70,25 @@ public:
virtual ~MultiThreadedDemo() {}
btQuaternion getGroundRotation() const
{
btScalar tilt = gSliderGroundTilt * SIMD_2_PI / 360.0f;
return btQuaternion( btVector3( 1.0f, 0.0f, 0.0f ), tilt );
}
virtual void stepSimulation( float deltaTime ) BT_OVERRIDE
{
if ( m_dynamicsWorld )
{
if ( m_prevRollingFriction != gSliderRollingFriction )
{
m_prevRollingFriction = gSliderRollingFriction;
btCollisionObjectArray& objArray = m_dynamicsWorld->getCollisionObjectArray();
for ( int i = 0; i < objArray.size(); ++i )
{
btCollisionObject* obj = objArray[ i ];
obj->setRollingFriction( gSliderRollingFriction );
}
}
if (m_groundBody)
{
// update ground
@ -85,6 +108,7 @@ public:
offset[kUpAxis] = gndVOffset;
vel[kUpAxis] = gndVVel;
xf.setOrigin(xf.getOrigin() + offset);
xf.setRotation( getGroundRotation() );
m_groundBody->setWorldTransform( xf );
m_groundBody->setLinearVelocity( vel );
}
@ -117,6 +141,7 @@ MultiThreadedDemo::MultiThreadedDemo(struct GUIHelperInterface* helper)
m_cameraPitch = -30.0f;
m_cameraYaw = 90.0f;
m_cameraDist = 48.0f;
m_prevRollingFriction = -1.0f;
helper->setUpAxis( kUpAxis );
}
@ -134,6 +159,13 @@ void MultiThreadedDemo::initPhysics()
slider.m_clampToIntegers = true;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter( slider );
}
{
SliderParams slider( "Stack width", &gSliderStackWidth );
slider.m_minVal = 1.0f;
slider.m_maxVal = 30.0f;
slider.m_clampToIntegers = true;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter( slider );
}
{
SliderParams slider( "Stack rows", &gSliderStackRows );
slider.m_minVal = 1.0f;
@ -164,7 +196,30 @@ void MultiThreadedDemo::initPhysics()
slider.m_clampToNotches = false;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter( slider );
}
{
// ground tilt
SliderParams slider( "Ground tilt", &gSliderGroundTilt );
slider.m_minVal = -45.0f;
slider.m_maxVal = 45.0f;
slider.m_clampToNotches = false;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter( slider );
}
{
// rolling friction
SliderParams slider( "Rolling friction", &gSliderRollingFriction );
slider.m_minVal = 0.0f;
slider.m_maxVal = 1.0f;
slider.m_clampToNotches = false;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter( slider );
}
{
ButtonParams button( "Spheres not boxes", 0, false );
button.m_initialState = gSpheresNotBoxes;
button.m_userPointer = &gSpheresNotBoxes;
button.m_callback = boolPtrButtonCallback;
m_guiHelper->getParameterInterface()->registerButtonParameter( button );
}
createSceneObjects();
m_guiHelper->createPhysicsDebugDrawer( m_dynamicsWorld );
@ -184,29 +239,36 @@ btRigidBody* MultiThreadedDemo::localCreateRigidBody(btScalar mass, const btTran
}
void MultiThreadedDemo::createStack( const btVector3& center, btCollisionShape* boxShape, const btVector3& halfBoxSize, int size )
void MultiThreadedDemo::createStack( const btTransform& parentTrans, btCollisionShape* boxShape, const btVector3& halfBoxSize, int height, int width )
{
btTransform trans;
trans.setIdentity();
trans.setRotation( parentTrans.getRotation() );
float halfBoxHeight = halfBoxSize.y();
float halfBoxWidth = halfBoxSize.x();
for ( int i = 0; i<size; i++ )
btVector3 offset = btVector3( 0, 0, -halfBoxSize.z() * (width - 1) );
for ( int iZ = 0; iZ < width; iZ++ )
{
// This constructs a row, from left to right
int rowSize = size - i;
for ( int j = 0; j< rowSize; j++ )
offset += btVector3( 0, 0, halfBoxSize.z()*2.0f );
for ( int iY = 0; iY < height; iY++ )
{
btVector3 pos = center + btVector3( halfBoxWidth*( 1 + j * 2 - rowSize ),
halfBoxHeight * ( 1 + i * 2),
0.0f
// This constructs a row, from left to right
int rowSize = height - iY;
for ( int iX = 0; iX < rowSize; iX++ )
{
btVector3 pos = offset + btVector3( halfBoxWidth*( 1 + iX * 2 - rowSize ),
halfBoxHeight * ( 1 + iY * 2 ),
0.0f
);
trans.setOrigin( pos );
btScalar mass = 1.f;
trans.setOrigin( parentTrans(pos) );
btScalar mass = 1.f;
btRigidBody* body = localCreateRigidBody( mass, trans, boxShape );
body->setFriction(1.0f);
btRigidBody* body = localCreateRigidBody( mass, trans, boxShape );
body->setFriction( 1.0f );
body->setRollingFriction( gSliderRollingFriction );
}
}
}
}
@ -216,10 +278,8 @@ void MultiThreadedDemo::createSceneObjects()
{
{
// create ground box
btTransform tr;
tr.setIdentity();
tr.setOrigin( btVector3( 0.f, -3.f, 0.f ) );
m_groundStartXf = tr;
m_groundStartXf.setOrigin( btVector3( 0.f, -3.f, 0.f ) );
m_groundStartXf.setRotation( getGroundRotation() );
//either use heightfield or triangle mesh
@ -240,18 +300,33 @@ void MultiThreadedDemo::createSceneObjects()
int numStackRows = btMax(1, int(gSliderStackRows));
int numStackCols = btMax(1, int(gSliderStackColumns));
int stackHeight = int(gSliderStackHeight);
float stackZSpacing = 3.0f;
int stackWidth = int( gSliderStackWidth );
float stackZSpacing = 2.0f + stackWidth*halfExtents.x()*2.0f;
float stackXSpacing = 20.0f;
btBoxShape* boxShape = new btBoxShape( halfExtents );
m_collisionShapes.push_back( boxShape );
btSphereShape* sphereShape = new btSphereShape( 0.5f );
m_collisionShapes.push_back( sphereShape );
btCollisionShape* shape = boxShape;
if ( gSpheresNotBoxes )
{
shape = sphereShape;
}
btTransform groundTrans;
groundTrans.setIdentity();
groundTrans.setRotation( getGroundRotation() );
for ( int iX = 0; iX < numStackCols; ++iX )
{
for ( int iZ = 0; iZ < numStackRows; ++iZ )
{
btVector3 center = btVector3( iX * stackXSpacing, 0.0f, ( iZ - numStackRows / 2 ) * stackZSpacing );
createStack( center, boxShape, halfExtents, stackHeight );
btTransform trans = groundTrans;
trans.setOrigin( groundTrans( center ) );
createStack( trans, shape, halfExtents, stackHeight, stackWidth );
}
}
}