mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 13:50:04 +00:00
281 lines
9.6 KiB
C++
281 lines
9.6 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/btQuickprof.h"
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#include "LinearMath/btIDebugDraw.h"
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#include "../CommonInterfaces/CommonParameterInterface.h"
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#include <stdio.h> //printf debugging
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#include <algorithm>
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class btCollisionShape;
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#include "CommonRigidBodyMTBase.h"
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#include "MultiThreadedDemo.h"
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#include "LinearMath/btAlignedObjectArray.h"
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#include "btBulletCollisionCommon.h"
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static btScalar gSliderStackRows = 8.0f;
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static btScalar gSliderStackColumns = 6.0f;
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static btScalar gSliderStackHeight = 10.0f;
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static btScalar gSliderGroundHorizontalAmplitude = 0.0f;
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static btScalar gSliderGroundVerticalAmplitude = 0.0f;
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/// MultiThreadedDemo shows how to setup and use multithreading
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class MultiThreadedDemo : public CommonRigidBodyMTBase
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{
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static const int kUpAxis = 1;
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btRigidBody* localCreateRigidBody(btScalar mass, const btTransform& worldTransform, btCollisionShape* colSape);
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btVector3 m_cameraTargetPos;
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float m_cameraPitch;
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float m_cameraYaw;
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float m_cameraDist;
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btRigidBody* m_groundBody;
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btTransform m_groundStartXf;
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float m_groundMovePhase;
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void createStack( const btVector3& pos, btCollisionShape* boxShape, const btVector3& halfBoxSize, int size );
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void createSceneObjects();
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void destroySceneObjects();
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public:
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BT_DECLARE_ALIGNED_ALLOCATOR();
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MultiThreadedDemo( struct GUIHelperInterface* helper );
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virtual ~MultiThreadedDemo() {}
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virtual void stepSimulation( float deltaTime ) BT_OVERRIDE
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{
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if ( m_dynamicsWorld )
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{
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if (m_groundBody)
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{
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// update ground
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const float cyclesPerSecond = 1.0f;
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m_groundMovePhase += cyclesPerSecond * deltaTime;
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m_groundMovePhase -= floor( m_groundMovePhase ); // keep phase between 0 and 1
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btTransform xf = m_groundStartXf;
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float gndHOffset = btSin(m_groundMovePhase * SIMD_2_PI) * gSliderGroundHorizontalAmplitude;
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float gndHVel = btCos(m_groundMovePhase * SIMD_2_PI) * gSliderGroundHorizontalAmplitude * cyclesPerSecond * SIMD_2_PI; // d(gndHOffset)/dt
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float gndVOffset = btSin(m_groundMovePhase * SIMD_2_PI) * gSliderGroundVerticalAmplitude;
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float gndVVel = btCos(m_groundMovePhase * SIMD_2_PI) * gSliderGroundVerticalAmplitude * cyclesPerSecond * SIMD_2_PI; // d(gndVOffset)/dt
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btVector3 offset(0,0,0);
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btVector3 vel(0,0,0);
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int horizAxis = 2;
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offset[horizAxis] = gndHOffset;
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vel[horizAxis] = gndHVel;
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offset[kUpAxis] = gndVOffset;
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vel[kUpAxis] = gndVVel;
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xf.setOrigin(xf.getOrigin() + offset);
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m_groundBody->setWorldTransform( xf );
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m_groundBody->setLinearVelocity( vel );
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}
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// always step by 1/60 for benchmarking
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m_dynamicsWorld->stepSimulation( 1.0f / 60.0f, 0 );
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}
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}
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virtual void initPhysics() BT_OVERRIDE;
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virtual void resetCamera() BT_OVERRIDE
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{
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m_guiHelper->resetCamera( m_cameraDist,
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m_cameraPitch,
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m_cameraYaw,
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m_cameraTargetPos.x(),
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m_cameraTargetPos.y(),
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m_cameraTargetPos.z()
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);
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}
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};
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MultiThreadedDemo::MultiThreadedDemo(struct GUIHelperInterface* helper)
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: CommonRigidBodyMTBase( helper )
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{
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m_groundBody = NULL;
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m_groundMovePhase = 0.0f;
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m_cameraTargetPos = btVector3( 0.0f, 0.0f, 0.0f );
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m_cameraPitch = 90.0f;
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m_cameraYaw = 30.0f;
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m_cameraDist = 48.0f;
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helper->setUpAxis( kUpAxis );
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}
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void MultiThreadedDemo::initPhysics()
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{
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createEmptyDynamicsWorld();
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m_dynamicsWorld->setGravity( btVector3( 0, -10, 0 ) );
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{
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SliderParams slider( "Stack height", &gSliderStackHeight );
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slider.m_minVal = 1.0f;
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slider.m_maxVal = 30.0f;
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slider.m_clampToIntegers = true;
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter( slider );
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}
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{
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SliderParams slider( "Stack rows", &gSliderStackRows );
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slider.m_minVal = 1.0f;
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slider.m_maxVal = 20.0f;
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slider.m_clampToIntegers = true;
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter( slider );
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}
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{
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SliderParams slider( "Stack columns", &gSliderStackColumns );
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slider.m_minVal = 1.0f;
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slider.m_maxVal = 20.0f;
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slider.m_clampToIntegers = true;
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter( slider );
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}
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{
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// horizontal ground shake
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SliderParams slider( "Ground horiz amp", &gSliderGroundHorizontalAmplitude );
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slider.m_minVal = 0.0f;
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slider.m_maxVal = 1.0f;
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slider.m_clampToNotches = false;
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter( slider );
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}
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{
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// vertical ground shake
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SliderParams slider( "Ground vert amp", &gSliderGroundVerticalAmplitude );
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slider.m_minVal = 0.0f;
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slider.m_maxVal = 1.0f;
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slider.m_clampToNotches = false;
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter( slider );
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}
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createSceneObjects();
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m_guiHelper->createPhysicsDebugDrawer( m_dynamicsWorld );
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}
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btRigidBody* MultiThreadedDemo::localCreateRigidBody(btScalar mass, const btTransform& startTransform, btCollisionShape* shape)
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{
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btRigidBody* body = createRigidBody(mass, startTransform, shape);
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if ( mass > 0.0f )
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{
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// prevent bodies from sleeping to make profiling/benchmarking easier
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body->forceActivationState( DISABLE_DEACTIVATION );
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}
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return body;
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}
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void MultiThreadedDemo::createStack( const btVector3& center, btCollisionShape* boxShape, const btVector3& halfBoxSize, int size )
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{
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btTransform trans;
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trans.setIdentity();
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float halfBoxHeight = halfBoxSize.y();
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float halfBoxWidth = halfBoxSize.x();
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for ( int i = 0; i<size; i++ )
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{
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// This constructs a row, from left to right
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int rowSize = size - i;
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for ( int j = 0; j< rowSize; j++ )
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{
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btVector3 pos = center + btVector3( halfBoxWidth*( 1 + j * 2 - rowSize ),
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halfBoxHeight * ( 1 + i * 2),
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0.0f
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);
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trans.setOrigin( pos );
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btScalar mass = 1.f;
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btRigidBody* body = localCreateRigidBody( mass, trans, boxShape );
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body->setFriction(1.0f);
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}
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}
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}
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void MultiThreadedDemo::createSceneObjects()
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{
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{
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// create ground box
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btTransform tr;
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tr.setIdentity();
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tr.setOrigin( btVector3( 0.f, -3.f, 0.f ) );
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m_groundStartXf = tr;
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//either use heightfield or triangle mesh
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btVector3 groundExtents( 400, 400, 400 );
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groundExtents[ kUpAxis ] = 3;
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btCollisionShape* groundShape = new btBoxShape( groundExtents );
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m_collisionShapes.push_back( groundShape );
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//create ground object
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m_groundBody = createKinematicBody( m_groundStartXf, groundShape );
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m_groundBody->forceActivationState( DISABLE_DEACTIVATION );
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m_groundBody->setFriction(1.0f);
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}
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{
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// create walls of cubes
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const btVector3 halfExtents = btVector3( 0.5f, 0.25f, 0.5f );
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int numStackRows = btMax(1, int(gSliderStackRows));
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int numStackCols = btMax(1, int(gSliderStackColumns));
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int stackHeight = int(gSliderStackHeight);
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float stackZSpacing = 3.0f;
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float stackXSpacing = 20.0f;
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btBoxShape* boxShape = new btBoxShape( halfExtents );
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m_collisionShapes.push_back( boxShape );
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for ( int iX = 0; iX < numStackCols; ++iX )
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{
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for ( int iZ = 0; iZ < numStackRows; ++iZ )
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{
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btVector3 center = btVector3( iX * stackXSpacing, 0.0f, ( iZ - numStackRows / 2 ) * stackZSpacing );
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createStack( center, boxShape, halfExtents, stackHeight );
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}
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}
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}
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#if 0
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if ( false )
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{
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// destroyer ball
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btTransform sphereTrans;
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sphereTrans.setIdentity();
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sphereTrans.setOrigin( btVector3( 0, 2, 40 ) );
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btSphereShape* ball = new btSphereShape( 2.f );
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m_collisionShapes.push_back( ball );
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btRigidBody* ballBody = localCreateRigidBody( 10000.f, sphereTrans, ball );
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ballBody->setLinearVelocity( btVector3( 0, 0, -10 ) );
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}
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#endif
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m_guiHelper->autogenerateGraphicsObjects( m_dynamicsWorld );
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}
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CommonExampleInterface* MultiThreadedDemoCreateFunc( struct CommonExampleOptions& options )
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{
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return new MultiThreadedDemo(options.m_guiHelper);
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}
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