mirror of
https://github.com/bulletphysics/bullet3
synced 2025-01-10 09:20:10 +00:00
495 lines
12 KiB
C++
495 lines
12 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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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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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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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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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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#include "btBulletDynamicsCommon.h"
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#include "LinearMath/btIDebugDraw.h"
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#include "GLDebugDrawer.h"
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#include "ConcaveRaycastDemo.h"
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#include "GL_ShapeDrawer.h"
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#include "GlutStuff.h"
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//#define BATCH_RAYCASTER
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#ifdef BATCH_RAYCASTER
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#include "BulletMultiThreaded/SpuBatchRaycaster.h"
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static SpuBatchRaycaster* gBatchRaycaster = NULL;
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#ifdef USE_LIBSPE2
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#include "BulletMultiThreaded/SpuLibspe2Support.h"
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#elif defined (_WIN32)
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#include "BulletMultiThreaded/Win32ThreadSupport.h"
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#else
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//other platforms run the parallel code sequentially (until pthread support or other parallel implementation is added)
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#include "BulletMultiThreaded/SequentialThreadSupport.h"
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#endif //USE_LIBSPE2
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#endif //BATCH_RAYCASTER
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static btVector3* gVertices=0;
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static int* gIndices=0;
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static btBvhTriangleMeshShape* trimeshShape =0;
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static btRigidBody* staticBody = 0;
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static float waveheight = 5.f;
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const float TRIANGLE_SIZE=8.f;
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/* Scrolls back and forth over terrain */
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#define NUMRAYS_IN_BAR 100
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class btRaycastBar
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{
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public:
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btVector3 source[NUMRAYS_IN_BAR];
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btVector3 dest[NUMRAYS_IN_BAR];
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btVector3 direction[NUMRAYS_IN_BAR];
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btVector3 hit[NUMRAYS_IN_BAR];
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btVector3 normal[NUMRAYS_IN_BAR];
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int frame_counter;
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int ms;
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int sum_ms;
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int sum_ms_samples;
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int min_ms;
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int max_ms;
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#ifdef USE_BT_CLOCK
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btClock frame_timer;
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#endif //USE_BT_CLOCK
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btScalar dx;
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btScalar min_x;
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btScalar max_x;
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btScalar min_y;
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btScalar max_y;
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btScalar sign;
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btRaycastBar ()
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{
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ms = 0;
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max_ms = 0;
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min_ms = 9999.0;
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sum_ms_samples = 0;
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sum_ms = 0;
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}
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btRaycastBar (bool unused, btScalar ray_length, btScalar min_z, btScalar max_z, btScalar min_y = -10, btScalar max_y = 10)
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{
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frame_counter = 0;
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ms = 0;
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max_ms = 0;
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min_ms = 9999.0;
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sum_ms_samples = 0;
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sum_ms = 0;
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dx = 10.0;
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min_x = -40;
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max_x = 20;
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this->min_y = min_y;
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this->max_y = max_y;
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sign = 1.0;
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btScalar dalpha = 2*SIMD_2_PI/NUMRAYS_IN_BAR;
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for (int i = 0; i < NUMRAYS_IN_BAR; i++)
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{
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btScalar z = (max_z-min_z)/btScalar(NUMRAYS_IN_BAR) * btScalar(i) + min_z;
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source[i] = btVector3(min_x, max_y, z);
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dest[i] = btVector3(min_x + ray_length, min_y, z);
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normal[i] = btVector3(1.0, 0.0, 0.0);
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}
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}
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btRaycastBar (btScalar ray_length, btScalar z, btScalar min_y = -1000, btScalar max_y = 10)
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{
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frame_counter = 0;
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ms = 0;
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max_ms = 0;
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min_ms = 9999.0;
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sum_ms_samples = 0;
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sum_ms = 0;
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dx = 10.0;
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min_x = -40;
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max_x = 20;
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this->min_y = min_y;
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this->max_y = max_y;
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sign = 1.0;
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btScalar dalpha = 2*SIMD_2_PI/NUMRAYS_IN_BAR;
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for (int i = 0; i < NUMRAYS_IN_BAR; i++)
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{
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btScalar alpha = dalpha * i;
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// rotate around by alpha degrees y
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btTransform tr (btQuaternion (btVector3(0.0, 1.0, 0.0), alpha));
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direction[i] = btVector3(1.0, 0.0, 0.0);
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direction[i] = tr* direction[i];
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direction[i] = direction[i] * ray_length;
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source[i] = btVector3(min_x, max_y, z);
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dest[i] = source[i] + direction[i];
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dest[i][1] = min_y;
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normal[i] = btVector3(1.0, 0.0, 0.0);
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}
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}
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void move (btScalar dt)
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{
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if (dt > (1.0/60.0))
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dt = 1.0/60.0;
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for (int i = 0; i < NUMRAYS_IN_BAR; i++)
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{
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source[i][0] += dx * dt * sign;
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dest[i][0] += dx * dt * sign;
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}
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if (source[0][0] < min_x)
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sign = 1.0;
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else if (source[0][0] > max_x)
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sign = -1.0;
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}
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void cast (btCollisionWorld* cw)
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{
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#ifdef USE_BT_CLOCK
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frame_timer.reset ();
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#endif //USE_BT_CLOCK
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#ifdef BATCH_RAYCASTER
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if (!gBatchRaycaster)
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return;
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gBatchRaycaster->clearRays ();
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for (int i = 0; i < NUMRAYS_IN_BAR; i++)
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{
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gBatchRaycaster->addRay (source[i], dest[i]);
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}
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gBatchRaycaster->performBatchRaycast ();
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for (int i = 0; i < gBatchRaycaster->getNumRays (); i++)
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{
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const SpuRaycastTaskWorkUnitOut& out = (*gBatchRaycaster)[i];
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hit[i].setInterpolate3(source[i],dest[i],out.hitFraction);
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normal[i] = out.hitNormal;
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normal[i].normalize ();
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}
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#else
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for (int i = 0; i < NUMRAYS_IN_BAR; i++)
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{
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btCollisionWorld::ClosestRayResultCallback cb(source[i], dest[i]);
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cw->rayTest (source[i], dest[i], cb);
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if (cb.hasHit ())
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{
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hit[i] = cb.m_hitPointWorld;
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normal[i] = cb.m_hitNormalWorld;
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normal[i].normalize ();
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} else {
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hit[i] = dest[i];
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normal[i] = btVector3(1.0, 0.0, 0.0);
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}
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}
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#ifdef USE_BT_CLOCK
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ms += frame_timer.getTimeMilliseconds ();
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#endif //USE_BT_CLOCK
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frame_counter++;
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if (frame_counter > 50)
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{
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min_ms = ms < min_ms ? ms : min_ms;
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max_ms = ms > max_ms ? ms : max_ms;
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sum_ms += ms;
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sum_ms_samples++;
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btScalar mean_ms = (btScalar)sum_ms/(btScalar)sum_ms_samples;
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printf("%d rays in %d ms %d %d %f\n", NUMRAYS_IN_BAR * frame_counter, ms, min_ms, max_ms, mean_ms);
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ms = 0;
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frame_counter = 0;
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}
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#endif
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}
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void draw ()
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{
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glDisable (GL_LIGHTING);
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glColor3f (0.0, 1.0, 0.0);
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glBegin (GL_LINES);
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int i;
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for (i = 0; i < NUMRAYS_IN_BAR; i++)
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{
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glVertex3f (source[i][0], source[i][1], source[i][2]);
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glVertex3f (hit[i][0], hit[i][1], hit[i][2]);
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}
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glEnd ();
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glColor3f (1.0, 1.0, 1.0);
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glBegin (GL_LINES);
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for (i = 0; i < NUMRAYS_IN_BAR; i++)
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{
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glVertex3f (hit[i][0], hit[i][1], hit[i][2]);
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glVertex3f (hit[i][0] + normal[i][0], hit[i][1] + normal[i][1], hit[i][2] + normal[i][2]);
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}
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glEnd ();
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glColor3f (0.0, 1.0, 1.0);
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glBegin (GL_POINTS);
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for ( i = 0; i < NUMRAYS_IN_BAR; i++)
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{
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glVertex3f (hit[i][0], hit[i][1], hit[i][2]);
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}
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glEnd ();
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glEnable (GL_LIGHTING);
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}
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};
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static btRaycastBar raycastBar;
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const int NUM_VERTS_X = 30;
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const int NUM_VERTS_Y = 30;
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const int totalVerts = NUM_VERTS_X*NUM_VERTS_Y;
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void ConcaveRaycastDemo::setVertexPositions(float waveheight, float offset)
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{
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int i;
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int j;
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for ( i=0;i<NUM_VERTS_X;i++)
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{
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for (j=0;j<NUM_VERTS_Y;j++)
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{
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gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
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//0.f,
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waveheight*sinf((float)i+offset)*cosf((float)j+offset),
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(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
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}
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}
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}
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void ConcaveRaycastDemo::keyboardCallback(unsigned char key, int x, int y)
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{
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if (key == 'g')
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{
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m_animatedMesh = !m_animatedMesh;
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if (m_animatedMesh)
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{
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staticBody->setCollisionFlags( staticBody->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
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staticBody->setActivationState(DISABLE_DEACTIVATION);
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} else
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{
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staticBody->setCollisionFlags( staticBody->getCollisionFlags() & ~btCollisionObject::CF_KINEMATIC_OBJECT);
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staticBody->forceActivationState(ACTIVE_TAG);
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}
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}
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DemoApplication::keyboardCallback(key,x,y);
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}
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void ConcaveRaycastDemo::initPhysics()
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{
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#define TRISIZE 10.f
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int vertStride = sizeof(btVector3);
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int indexStride = 3*sizeof(int);
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const int totalTriangles = 2*(NUM_VERTS_X-1)*(NUM_VERTS_Y-1);
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gVertices = new btVector3[totalVerts];
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gIndices = new int[totalTriangles*3];
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int i;
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setVertexPositions(waveheight,0.f);
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int index=0;
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for ( i=0;i<NUM_VERTS_X-1;i++)
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{
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for (int j=0;j<NUM_VERTS_Y-1;j++)
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{
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gIndices[index++] = j*NUM_VERTS_X+i;
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gIndices[index++] = j*NUM_VERTS_X+i+1;
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gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
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gIndices[index++] = j*NUM_VERTS_X+i;
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gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
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gIndices[index++] = (j+1)*NUM_VERTS_X+i;
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}
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}
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m_indexVertexArrays = new btTriangleIndexVertexArray(totalTriangles,
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gIndices,
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indexStride,
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totalVerts,(btScalar*) &gVertices[0].x(),vertStride);
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bool useQuantizedAabbCompression = true;
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trimeshShape = new btBvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression);
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m_collisionShapes.push_back(trimeshShape);
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btCollisionShape* groundShape = trimeshShape;
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m_collisionConfiguration = new btDefaultCollisionConfiguration();
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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btVector3 worldMin(-1000,-1000,-1000);
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btVector3 worldMax(1000,1000,1000);
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m_broadphase = new btAxisSweep3(worldMin,worldMax);
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m_solver = new btSequentialImpulseConstraintSolver();
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m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
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float mass = 0.f;
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btTransform startTransform;
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startTransform.setIdentity();
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startTransform.setOrigin(btVector3(0,-2,0));
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btCollisionShape* colShape = new btBoxShape(btVector3(1,1,1));
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m_collisionShapes.push_back(colShape);
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{
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for (int i=0;i<10;i++)
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{
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//btCollisionShape* colShape = new btCapsuleShape(0.5,2.0);//boxShape = new btSphereShape(1.f);
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startTransform.setOrigin(btVector3(2*i,10,1));
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localCreateRigidBody(1, startTransform,colShape);
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}
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}
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startTransform.setIdentity();
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staticBody = localCreateRigidBody(mass, startTransform,groundShape);
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staticBody->setCollisionFlags(staticBody->getCollisionFlags() | btCollisionObject::CF_STATIC_OBJECT);
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#ifdef BATCH_RAYCASTER
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int maxNumOutstandingTasks = 4;
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#ifdef USE_WIN32_THREADING
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Win32ThreadSupport::Win32ThreadConstructionInfo tci("batch raycast",
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processRaycastTask,
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createRaycastLocalStoreMemory,
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maxNumOutstandingTasks);
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m_threadSupportRaycast = new Win32ThreadSupport(tci);
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printf("m_threadSupportRaycast = %p\n", m_threadSupportRaycast);
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#endif
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gBatchRaycaster = new SpuBatchRaycaster (m_threadSupportRaycast, maxNumOutstandingTasks, m_dynamicsWorld->getCollisionObjectArray(), m_dynamicsWorld->getNumCollisionObjects());
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#endif
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raycastBar = btRaycastBar (4000.0, 0.0);
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//raycastBar = btRaycastBar (true, 40.0, -50.0, 50.0);
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}
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void ConcaveRaycastDemo::clientMoveAndDisplay()
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{
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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float dt = getDeltaTimeMicroseconds() * 0.000001f;
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if (m_animatedMesh)
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{
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static float offset=0.f;
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offset+=0.01f;
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setVertexPositions(waveheight,offset);
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btVector3 worldMin(-1000,-1000,-1000);
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btVector3 worldMax(1000,1000,1000);
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trimeshShape->refitTree(worldMin,worldMax);
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//clear all contact points involving mesh proxy. Note: this is a slow/unoptimized operation.
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m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(staticBody->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher());
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}
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m_dynamicsWorld->stepSimulation(dt);
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//optional but useful: debug drawing
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m_dynamicsWorld->debugDrawWorld();
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raycastBar.move (dt);
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raycastBar.cast (m_dynamicsWorld);
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renderme();
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raycastBar.draw ();
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glFlush();
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glutSwapBuffers();
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}
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void ConcaveRaycastDemo::displayCallback(void) {
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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renderme();
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raycastBar.draw ();
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glFlush();
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glutSwapBuffers();
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}
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void ConcaveRaycastDemo::exitPhysics()
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{
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//cleanup in the reverse order of creation/initialization
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//remove the rigidbodies from the dynamics world and delete them
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int i;
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for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
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{
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btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
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btRigidBody* body = btRigidBody::upcast(obj);
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if (body && body->getMotionState())
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{
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delete body->getMotionState();
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}
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m_dynamicsWorld->removeCollisionObject( obj );
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delete obj;
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}
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//delete collision shapes
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for (int j=0;j<m_collisionShapes.size();j++)
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{
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btCollisionShape* shape = m_collisionShapes[j];
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delete shape;
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}
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//delete dynamics world
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delete m_dynamicsWorld;
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if (m_indexVertexArrays)
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delete m_indexVertexArrays;
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//delete solver
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delete m_solver;
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//delete broadphase
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delete m_broadphase;
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//delete dispatcher
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delete m_dispatcher;
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delete m_collisionConfiguration;
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delete[] gVertices;
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}
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