mirror of
https://github.com/bulletphysics/bullet3
synced 2025-01-10 09:20:10 +00:00
278 lines
7.8 KiB
C++
278 lines
7.8 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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//#define USE_GROUND_BOX 1
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#define PRINT_CONTACT_STATISTICS 1
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#define USE_PARALLEL_DISPATCHER 1
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//#define USE_SIMPLE_DYNAMICS_WORLD 1
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int gNumObjects = 5;
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#define HALF_EXTENTS btScalar(1.)
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#include "btBulletDynamicsCommon.h"
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#include "BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h"
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#include "LinearMath/btIDebugDraw.h"
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#include <stdio.h> //printf debugging
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btScalar deltaTime = btScalar(1./60.);
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btScalar gCollisionMargin = btScalar(0.05);
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#include "BasicDemo2.h"
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#ifdef USE_PARALLEL_DISPATCHER
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#include "BulletMultiThreaded/SpuGatheringCollisionDispatcher.h"
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#include "BulletMultiThreaded/Win32ThreadSupport.h"
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#include "BulletMultiThreaded/SpuLibspe2Support.h"
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#include "BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h"
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#endif//USE_PARALLEL_DISPATCHER
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#include <LinearMath/btAlignedObjectArray.h>
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////////////////////////////////////
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int main(int argc,char** argv)
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{
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BasicDemo ccdDemo;
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ccdDemo.initPhysics();
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int i;
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for (i=0;i<5;i++)
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ccdDemo.clientMoveAndDisplay();
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ccdDemo.exitPhysics();
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return 0;
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}
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extern int gNumManifold;
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void BasicDemo::clientMoveAndDisplay()
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{
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//simple dynamics world doesn't handle fixed-time-stepping
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float ms = m_clock.getTimeMicroseconds();
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m_clock.reset();
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float minFPS = 1000000.f/60.f;
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if (ms > minFPS)
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ms = minFPS;
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if (m_dynamicsWorld)
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m_dynamicsWorld->stepSimulation(ms / 1000000.f);
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//some additional debugging info
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#ifdef PRINT_CONTACT_STATISTICS
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printf("num contact manifolds: %i\n",gNumManifold);
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int numManifolds = m_dynamicsWorld->getDispatcher()->getNumManifolds();
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for (int i=0;i<numManifolds;i++)
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{
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btPersistentManifold* contactManifold = m_dynamicsWorld->getDispatcher()->getManifoldByIndexInternal(i);
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btCollisionObject* obA = static_cast<btCollisionObject*>(contactManifold->getBody0());
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btCollisionObject* obB = static_cast<btCollisionObject*>(contactManifold->getBody1());
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int numContacts = contactManifold->getNumContacts();
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for (int j=0;j<numContacts;j++)
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{
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btManifoldPoint& pt = contactManifold->getContactPoint(j);
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btVector3 ptA = pt.getPositionWorldOnA();
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btVector3 ptB = pt.getPositionWorldOnB();
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printf("contact manifold[%d],pointA[%d]=(%f,%f,%f)\n",i,j,ptA[0],ptA[1],ptA[2]);
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}
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}
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#endif //PRINT_CONTACT_STATISTICS
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}
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void BasicDemo::initPhysics()
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{
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btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
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#ifdef USE_PARALLEL_DISPATCHER
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int maxNumOutstandingTasks = 1;//number of maximum outstanding tasks
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#ifdef USE_WIN32_THREADING
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Win32ThreadSupport* threadSupport = new Win32ThreadSupport(Win32ThreadSupport::Win32ThreadConstructionInfo(
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"collision",
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processCollisionTask,
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createCollisionLocalStoreMemory,
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maxNumOutstandingTasks));
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#else
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spe_program_handle_t * program_handle;
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#ifndef USE_CESOF
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char* spuFileName = "../../../src/BulletMultiThreaded/out/spuCollision.elf";
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program_handle = spe_image_open (spuFileName);
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if (program_handle == NULL)
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{
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printf( "SPU OPEN IMAGE ERROR:%s\n",spuFileName);
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exit(0);
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}
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else
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{
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printf( "IMAGE OPENED:%s\n",spuFileName);
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}
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#else
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extern spe_program_handle_t spu_program;
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program_handle = &spu_program;
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#endif
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SpuLibspe2Support* threadSupport = new SpuLibspe2Support( program_handle, maxNumOutstandingTasks);
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#endif // WIN32
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m_dispatcher = new SpuGatheringCollisionDispatcher(threadSupport,maxNumOutstandingTasks,collisionConfiguration);
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#else
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m_dispatcher = new btCollisionDispatcher(collisionConfiguration);
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#endif //USE_PARALLEL_DISPATCHER
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m_collisionConfiguration = new btDefaultCollisionConfiguration();
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#define USE_SWEEP_AND_PRUNE 1
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#ifdef USE_SWEEP_AND_PRUNE
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#define maxProxies 8192
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btVector3 worldAabbMin(-10000,-10000,-10000);
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btVector3 worldAabbMax(10000,10000,10000);
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m_overlappingPairCache = new btAxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
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//m_overlappingPairCache = new btMultiSapBroadphase();
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#else
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m_overlappingPairCache = new btSimpleBroadphase;
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#endif //USE_SWEEP_AND_PRUNE
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btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
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m_solver = sol;
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m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_solver,m_collisionConfiguration);
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m_dynamicsWorld->getDispatchInfo().m_enableSPU = true;
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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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//static ground
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#ifdef USE_GROUND_BOX
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btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
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#else
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btCollisionShape* groundShape = new btSphereShape(btScalar(50.));
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#endif//USE_GROUND_BOX
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m_collisionShapes.push_back(groundShape);
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btTransform groundTransform;
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groundTransform.setIdentity();
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groundTransform.setOrigin(btVector3(0,-50,0));
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localCreateRigidBody(btScalar(0.),groundTransform,groundShape);
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//create a few dynamic sphere rigidbodies (re-using the same sphere shape)
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//btCollisionShape* sphereShape = new btBoxShape(btVector3(1,1,1));
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btCollisionShape* sphereShape = new btSphereShape(btScalar(1.));
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m_collisionShapes.push_back(sphereShape);
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int i;
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for (i=0;i<gNumObjects;i++)
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{
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sphereShape->setMargin(gCollisionMargin);
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btTransform trans;
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trans.setIdentity();
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//stack them
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int colsize = 2;
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int row = (int)((i*HALF_EXTENTS*2)/(colsize*2*HALF_EXTENTS));
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int row2 = row;
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int col = (i)%(colsize)-colsize/2;
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btVector3 pos(col*2*HALF_EXTENTS + (row2%2)*HALF_EXTENTS,
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row*2*HALF_EXTENTS+HALF_EXTENTS,0);
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trans.setOrigin(pos);
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//btRigidBody* body = localCreateRigidBody(btScalar(1.),trans,sphereShape);
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localCreateRigidBody(btScalar(1.),trans,sphereShape);
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}
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//clientResetScene();
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}
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btRigidBody* BasicDemo::localCreateRigidBody(btScalar mass,const btTransform& startTrans,btCollisionShape* colShape)
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{
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btVector3 inertia(0,0,0);
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if (mass)
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colShape->calculateLocalInertia(mass,inertia);
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btRigidBody::btRigidBodyConstructionInfo rbci(mass,0,colShape,inertia);
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rbci.m_startWorldTransform = startTrans;
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btRigidBody* body = new btRigidBody(rbci);
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m_dynamicsWorld->addRigidBody(body);
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return body;
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}
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void BasicDemo::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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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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//delete solver
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delete m_solver;
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//delete broadphase
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delete m_overlappingPairCache;
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//delete dispatcher
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delete m_dispatcher;
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delete m_collisionConfiguration;
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}
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