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Code Issues Releases Wiki Activity

Make BenchmarkDemo a console application, without OpenGL/Glut dependency.

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Fix potential division by zero when enabling convex distance utility.
Thanks to linzner http://code.google.com/p/bullet/issues/detail?id=264
This commit is contained in:
erwin.coumans 2009-08-12 08:18:57 +00:00
parent ae3255f5e9
commit e89fe1cbfa
17 changed files with 152 additions and 90 deletions
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1
Demos/AllBulletDemos/CMakeLists.txt
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@ -27,7 +27,6 @@ ADD_EXECUTABLE(AppAllBulletDemos
DemoEntries.cpp
../CcdPhysicsDemo/CcdPhysicsDemo.cpp
../BasicDemo/BasicDemo.cpp
../Benchmarks/BenchmarkDemo.cpp
../BspDemo/BspDemo.cpp
../BspDemo/BspConverter.cpp
../BspDemo/BspLoader.cpp

33
Demos/AllBulletDemos/DemoEntries.cpp
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@ -30,7 +30,7 @@ subject to the following restrictions:
#include "../GjkConvexCastDemo/LinearConvexCastDemo.h"
#include "../ForkLiftDemo/ForkLiftDemo.h"
#include "../ConstraintDemo/ConstraintDemo.h"
#include "../Benchmarks/BenchmarkDemo.h"
//#include "../Benchmarks/BenchmarkDemo.h"
#include "../SoftDemo/SoftDemo.h"
#include "GLDebugFont.h"
@ -109,12 +109,13 @@ btDemoEntry g_demoEntries[] =
{"ForkLift Demo",ForkLiftDemo::Create},
{"Ragdoll Demo",RagdollDemo::Create},
{"Basic Demo", BasicDemo::Create},
{"CcdPhysicsDemo", CcdPhysicsDemo::Create},
{"Convex Decomposition",ConvexDecompositionDemo::Create},
{"Concave Moving", GimpactConcaveDemo::Create},
{"Dynamic Control Demo",MotorDemo::Create},
//{"ConcaveDemo",ConcaveDemo::Create},
{"ConcaveDemo",ConcaveDemo::Create},
{"Concave Convexcast Demo",ConcaveConvexcastDemo::Create},
// {"SoftBody Cloth",SoftDemo0::Create},
{"SoftBody Cloth",SoftDemo0::Create},
{"SoftBody Ropes Attach",SoftDemo4::Create},
{"SoftBody Cloth Attach",SoftDemo5::Create},
@ -125,12 +126,12 @@ btDemoEntry g_demoEntries[] =
{"SoftBody Cluster Robot",SoftDemo25::Create},
// {"SoftBody Ropes",SoftDemo3::Create},
{"SoftBody Sticks",SoftDemo6::Create},
// {"SoftBody Collide",SoftDemo7::Create},
// {"SoftBody Collide2",SoftDemo8::Create},
{"SoftBody Collide",SoftDemo7::Create},
{"SoftBody Collide2",SoftDemo8::Create},
// {"SoftBody Collide3",SoftDemo9::Create},
// {"SoftBody Impact",SoftDemo10::Create},
{"SoftBody Aero",SoftDemo11::Create},
// {"SoftBody Friction",SoftDemo12::Create},
{"SoftBody Friction",SoftDemo12::Create},
// {"SoftBody Torus",SoftDemo13::Create},
// {"SoftBody Torus Match",SoftDemo14::Create},
// {"SoftBody Bunny",SoftDemo15::Create},
@ -140,24 +141,24 @@ btDemoEntry g_demoEntries[] =
// {"SoftBody Cluster Collide2",SoftDemo20::Create},
// {"SoftBody Cluster Socket",SoftDemo21::Create},
// {"SoftBody Cluster Hinge",SoftDemo22::Create},
// {"SoftBody Cluster Combine",SoftDemo23::Create},
{"SoftBody Cluster Hinge",SoftDemo22::Create},
{"SoftBody Cluster Combine",SoftDemo23::Create},
// {"SoftBody Cluster Stack Soft",SoftDemo26::Create},
{"SoftBody Cluster Stack Mixed",SoftDemo27::Create},
// {"SliderConstraint",SliderConstraintDemo::Create},
{"CcdPhysicsDemo", CcdPhysicsDemo::Create},
// {"ConcaveRaycastDemo",ConcaveRaycastDemo::Create},
//{"BspDemo", BspDemo::Create},
// {"Raytracer Test",Raytracer::Create},
// {"GjkConvexCast",LinearConvexCastDemo::Create},
{"Benchmark 3000 FALL",BenchmarkDemo1::Create},
{"Benchmark 1000 STACK",BenchmarkDemo2::Create},
{"Benchmark 136 RAGDOLLS",BenchmarkDemo3::Create},
{"Benchmark 1000 CONVEX",BenchmarkDemo4::Create},
{"Benchmark Mesh-Prim",BenchmarkDemo5::Create},
{"Benchmark Mesh-Convex",BenchmarkDemo6::Create},
{"Benchmark Raycast",BenchmarkDemo7::Create},
// {"Benchmark 3000 FALL",BenchmarkDemo1::Create},
// {"Benchmark 1000 STACK",BenchmarkDemo2::Create},
// {"Benchmark 136 RAGDOLLS",BenchmarkDemo3::Create},
// {"Benchmark 1000 CONVEX",BenchmarkDemo4::Create},
// {"Benchmark Mesh-Prim",BenchmarkDemo5::Create},
// {"Benchmark Mesh-Convex",BenchmarkDemo6::Create},
// {"Benchmark Raycast",BenchmarkDemo7::Create},
{"MemoryLeak Checker",btEmptyDebugDemo::Create},
{0, 0}

1
Demos/AllBulletDemos/Jamfile
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@ -4,7 +4,6 @@ FrameWorkDemo AllBulletDemos :
[ Wildcard *.h *.cpp ]
../CcdPhysicsDemo/CcdPhysicsDemo.cpp
../BasicDemo/BasicDemo.cpp
../Benchmarks/BenchmarkDemo.cpp
../BspDemo/BspDemo.cpp
../BspDemo/BspConverter.cpp
../BspDemo/BspLoader.cpp

2
Demos/AllBulletDemos/Makefile.am
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@ -2,7 +2,6 @@ noinst_PROGRAMS=AllBulletDemo
AllBulletDemo_SOURCES=\
../SoftDemo/SoftDemo.cpp \
../Benchmarks/BenchmarkDemo.cpp \
../ConstraintDemo/ConstraintDemo.cpp \
../ForkLiftDemo/ForkLiftDemo.cpp \
../RagdollDemo/RagdollDemo.cpp \
@ -30,6 +29,5 @@ AllBulletDemo_CXXFLAGS=\
-I@top_builddir@/Extras \
-I@top_builddir@/Demos/OpenGL \
-I@top_builddir@/Demos/SoftDemo \
-I@top_builddir@/Demos/Benchmarks \
$(CXXFLAGS)
AllBulletDemo_LDADD=-L../OpenGL -lbulletopenglsupport -L../../src -L../../Extras -lgimpactutils -lconvexdecomposition -lbulletsoftbody -lbulletdynamics -lbulletcollision -lbulletmath -lglui @opengl_LIBS@

38
Demos/Benchmarks/BenchmarkDemo.cpp
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@ -16,10 +16,11 @@ subject to the following restrictions:
// Collision Radius
#define COLLISION_RADIUS 0.0f
#include "BenchmarkDemo.h"
#ifdef USE_GLUT_DEMO_APPLICATION
#include "GlutStuff.h"
#endif //USE_GLUT_DEMO_APPLICATION
///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
#include "btBulletDynamicsCommon.h"
#include <stdio.h> //printf debugging
@ -177,6 +178,7 @@ public:
void draw ()
{
#ifdef USE_GLUT_DEMO_APPLICATION
glDisable (GL_LIGHTING);
glColor3f (0.0, 1.0, 0.0);
glBegin (GL_LINES);
@ -204,6 +206,8 @@ public:
}
glEnd ();
glEnable (GL_LIGHTING);
#endif //USE_GLUT_DEMO_APPLICATION
}
};
@ -213,7 +217,9 @@ static btRaycastBar2 raycastBar;
void BenchmarkDemo::clientMoveAndDisplay()
{
#ifdef USE_GLUT_DEMO_APPLICATION
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
#endif //USE_GLUT_DEMO_APPLICATION
//simple dynamics world doesn't handle fixed-time-stepping
float ms = getDeltaTimeMicroseconds();
@ -236,16 +242,20 @@ void BenchmarkDemo::clientMoveAndDisplay()
renderme();
#ifdef USE_GLUT_DEMO_APPLICATION
glFlush();
glutSwapBuffers();
#endif //USE_GLUT_DEMO_APPLICATION
}
void BenchmarkDemo::displayCallback(void) {
void BenchmarkDemo::displayCallback(void)
{
#ifdef USE_GLUT_DEMO_APPLICATION
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
renderme();
@ -256,6 +266,7 @@ void BenchmarkDemo::displayCallback(void) {
glFlush();
glutSwapBuffers();
#endif //USE_GLUT_DEMO_APPLICATION
}
@ -1213,5 +1224,26 @@ void BenchmarkDemo::exitPhysics()
#ifndef USE_GLUT_DEMO_APPLICATION
btRigidBody* DemoApplication::localCreateRigidBody(float mass, const btTransform& startTransform,btCollisionShape* shape)
{
btAssert((!shape || shape->getShapeType() != INVALID_SHAPE_PROXYTYPE));
//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)
shape->calculateLocalInertia(mass,localInertia);
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btRigidBody* body = new btRigidBody(mass,0,shape,localInertia);
body->setWorldTransform(startTransform);
m_dynamicsWorld->addRigidBody(body);
return body;
}
#endif //USE_GLUT_DEMO_APPLICATION

38
Demos/Benchmarks/BenchmarkDemo.h
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@ -15,10 +15,15 @@ subject to the following restrictions:
#ifndef BENCHMARK_DEMO_H
#define BENCHMARK_DEMO_H
#include "GlutDemoApplication.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btTransform.h"
class btDynamicsWorld;
#define NUMRAYS 500
class btRigidBody;
class btBroadphaseInterface;
class btCollisionShape;
class btOverlappingPairCache;
@ -27,8 +32,39 @@ class btConstraintSolver;
struct btCollisionAlgorithmCreateFunc;
class btDefaultCollisionConfiguration;
#ifndef USE_GLUT_DEMO_APPLICATION
///empty placeholder
class DemoApplication
{
protected:
btDynamicsWorld* m_dynamicsWorld;
public:
virtual void myinit() {}
virtual btDynamicsWorld* getDynamicsWorld()
{
return m_dynamicsWorld;
}
btScalar getDeltaTimeMicroseconds()
{
return 1.f;
}
void renderme() {}
void setCameraDistance(btScalar dist){}
void clientResetScene(){}
btRigidBody* localCreateRigidBody(float mass, const btTransform& startTransform,btCollisionShape* shape);
};
///BenchmarkDemo is provides several performance tests
class BenchmarkDemo : public DemoApplication
#else
#include "GlutDemoApplication.h"
class BenchmarkDemo : public GlutDemoApplication
#endif
{
//keep the collision shapes, for deletion/cleanup

2
Demos/Benchmarks/CMakeLists.txt
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@ -15,7 +15,7 @@ ${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL }
)
LINK_LIBRARIES(
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
BulletDynamics BulletCollision LinearMath
)
ADD_EXECUTABLE(AppBenchmarks

2
Demos/Benchmarks/Jamfile
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@ -1,3 +1,3 @@
SubDir TOP Demos Benchmarks ;
BulletDemo Benchmarks : [ Wildcard *.h *.cpp ] ;
BulletBasicDemo Benchmarks : [ Wildcard *.h *.cpp ] ;

68
Demos/Benchmarks/main.cpp
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@ -14,32 +14,70 @@ subject to the following restrictions:
*/
#include "BenchmarkDemo.h"
#include "GlutStuff.h"
#include "GLDebugDrawer.h"
#include "btBulletDynamicsCommon.h"
#include "LinearMath/btHashMap.h"
#include <stdio.h>
#ifdef USE_GLUT_DEMO_APPLICATION
#include "GlutStuff.h"
#include "GLDebugDrawer.h"
GLDebugDrawer gDebugDrawer;
#endif //USE_GLUT_DEMO_APPLICATION
#define NUM_DEMOS 7
#define NUM_TESTS 650
extern bool gDisableDeactivation;
int main(int argc,char** argv)
{
GLDebugDrawer gDebugDrawer;
gDisableDeactivation = true;
// BenchmarkDemo1 benchmarkDemo;
// BenchmarkDemo2 benchmarkDemo;
// BenchmarkDemo3 benchmarkDemo;
BenchmarkDemo4 benchmarkDemo;
// BenchmarkDemo5 benchmarkDemo;
// BenchmarkDemo6 benchmarkDemo;
// BenchmarkDemo7 benchmarkDemo;
BenchmarkDemo1 benchmarkDemo1;
BenchmarkDemo2 benchmarkDemo2;
BenchmarkDemo3 benchmarkDemo3;
BenchmarkDemo4 benchmarkDemo4;
BenchmarkDemo5 benchmarkDemo5;
BenchmarkDemo6 benchmarkDemo6;
BenchmarkDemo7 benchmarkDemo7;
BenchmarkDemo* demoArray[NUM_DEMOS] = {&benchmarkDemo1,&benchmarkDemo2,&benchmarkDemo3,&benchmarkDemo4,&benchmarkDemo5,&benchmarkDemo6,&benchmarkDemo7};
char* demoNames[NUM_DEMOS] = {"3000 fall", "1000 stack", "136 ragdolls","1000 convex", "prim-trimesh", "convex-trimesh","raytests"};
float totalTime[NUM_DEMOS] = {0.f,0.f,0.f,0.f,0.f,0.f,0.f};
benchmarkDemo.initPhysics();
#ifdef USE_GLUT_DEMO_APPLICATION
benchmarkDemo.getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bulletphysics.com",&benchmarkDemo);
//default glut doesn't return from mainloop
#else
int d;
for (d=0;d<NUM_DEMOS;d++)
{
demoArray[d]->initPhysics();
for (int i=0;i<NUM_TESTS;i++)
{
demoArray[d]->clientMoveAndDisplay();
float frameTime = CProfileManager::Get_Time_Since_Reset();
if ((i % 25)==0)
{
printf("BenchmarkDemo: %s, Frame %d, Duration (ms): %f\n",demoNames[d],i,frameTime);
}
totalTime[d] += frameTime;
if (i==NUM_TESTS-1)
CProfileManager::dumpAll();
}
}
for (d=0;d<NUM_DEMOS;d++)
{
printf("\nResults for %s: %f",demoNames[d],totalTime[d]*(1.f/NUM_TESTS));
}
#endif
return 0;
}

1
Demos/ConstraintDemo/ConstraintDemo.cpp
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@ -345,6 +345,7 @@ void ConstraintDemo::initPhysics()
btVector3 parentAxis(1.f, 0.f, 0.f);
btVector3 childAxis(0.f, 0.f, 1.f);
btVector3 anchor(20.f, 2.f, 0.f);
btUniversalConstraint* pUniv = new btUniversalConstraint(*pBodyA, *pBodyB, anchor, parentAxis, childAxis);
pUniv->setLowerLimit(-SIMD_HALF_PI * 0.5f, -SIMD_HALF_PI * 0.5f);
pUniv->setUpperLimit(SIMD_HALF_PI * 0.5f, SIMD_HALF_PI * 0.5f);

5
Demos/ContinuousConvexCollision/ContinuousConvexCollision.h
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@ -18,13 +18,8 @@ subject to the following restrictions:
///ContinuousConvexCollisionDemo shows the working of the continuous collision detection, including linear and angular motion
#ifdef _WINDOWS
#include "Win32DemoApplication.h"
class btContinuousConvexCollisionDemo : public Win32DemoApplication
#else
#include "GlutDemoApplication.h"
class btContinuousConvexCollisionDemo : public GlutDemoApplication
#endif
{
public:

12
Demos/ContinuousConvexCollision/ContinuousConvexCollisionDemo.cpp
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@ -63,7 +63,7 @@ btTransform toTrans[maxNumObjects];
int screenWidth = 640;
int screenHeight = 480;
#ifndef _WINDOWS
int main(int argc,char** argv)
{
btContinuousConvexCollisionDemo* ccdDemo = new btContinuousConvexCollisionDemo();
@ -74,16 +74,6 @@ int main(int argc,char** argv)
return glutmain(argc, argv,screenWidth,screenHeight,"Continuous Convex Collision Demo",ccdDemo);
}
#else
DemoApplication* createDemo()
{
btContinuousConvexCollisionDemo* ccdDemo = new btContinuousConvexCollisionDemo();
ccdDemo->setCameraDistance(40.f);
return ccdDemo;
}
#endif //_WINDOWS
void btContinuousConvexCollisionDemo::initPhysics()

8
Demos/ConvexDecompositionDemo/main.cpp
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@ -5,7 +5,6 @@
#include "GLDebugDrawer.h"
#include "btBulletDynamicsCommon.h"
#ifndef _WINDOWS
GLDebugDrawer gDebugDrawer;
@ -31,10 +30,3 @@ int main(int argc,char** argv)
return 0;
}
#else
DemoApplication* createDemo()
{
ConvexDecompositionDemo* convexDecompDemo = new ConvexDecompositionDemo();
return convexDecompDemo;
}
#endif _WINDOWS

4
Demos/OpenGL/GlutDemoApplication.cpp
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@ -1,5 +1,5 @@
#ifndef _WINDOWS
#include "GlutDemoApplication.h"
#include "GlutStuff.h"
@ -81,5 +81,5 @@ void GlutDemoApplication::swapBuffers()
}
#endif //_WINDOWS

4
Demos/OpenGL/GlutStuff.cpp
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@ -70,7 +70,7 @@ static void glutDisplayCallback(void)
gDemoApplication->displayCallback();
}
#ifndef _WINDOWS
int glutmain(int argc, char **argv,int width,int height,const char* title,DemoApplication* demoApp) {
gDemoApplication = demoApp;
@ -104,4 +104,4 @@ int glutmain(int argc, char **argv,int width,int height,const char* title,DemoAp
return 0;
}
#endif //_WINDOWS

20
Demos/OpenGL/GlutStuff.h
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@ -34,26 +34,7 @@ subject to the following restrictions:
#endif
#endif
#ifdef _WINDOWS
#define BT_KEY_K 'K'
#define BT_KEY_LEFT VK_LEFT
#define BT_KEY_RIGHT VK_RIGHT
#define BT_KEY_UP VK_UP
#define BT_KEY_DOWN VK_DOWN
#define BT_KEY_F1 VK_F1
#define BT_KEY_F2 VK_F2
#define BT_KEY_F3 VK_F3
#define BT_KEY_F4 VK_F4
#define BT_KEY_F5 VK_F5
#define BT_KEY_PAGEUP VK_PRIOR
#define BT_KEY_PAGEDOWN VK_NEXT
#define BT_KEY_END VK_END
#define BT_KEY_HOME VK_HOME
#define BT_ACTIVE_ALT VK_LMENU
#else
#define BT_KEY_K 'k'
#define BT_KEY_LEFT GLUT_KEY_LEFT
#define BT_KEY_RIGHT GLUT_KEY_RIGHT
@ -72,7 +53,6 @@ subject to the following restrictions:
#define BT_ACTIVE_CTRL GLUT_ACTIVE_ALT
#define BT_ACTIVE_SHIFT GLUT_ACTIVE_SHIFT
#endif
#if BT_USE_FREEGLUT

3
src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
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@ -215,9 +215,10 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
#ifdef USE_SEPDISTANCE_UTIL2
if (dispatchInfo.m_useConvexConservativeDistanceUtil)
{
sepDist = gjkPairDetector.getCachedSeparatingDistance()+dispatchInfo.m_convexConservativeDistanceThreshold;
sepDist = gjkPairDetector.getCachedSeparatingDistance();
if (sepDist>SIMD_EPSILON)
{
sepDist += dispatchInfo.m_convexConservativeDistanceThreshold;
//now perturbe directions to get multiple contact points
sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis().normalized();
btPlaneSpace1(sepNormalWorldSpace,v0,v1);