mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 06:00:12 +00:00
366 lines
12 KiB
C++
366 lines
12 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
|
|
|
This software is provided 'as-is', without any express or implied warranty.
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
|
Permission is granted to anyone to use this software for any purpose,
|
|
including commercial applications, and to alter it and redistribute it freely,
|
|
subject to the following restrictions:
|
|
|
|
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.
|
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
|
3. This notice may not be removed or altered from any source distribution.
|
|
*/
|
|
|
|
#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>
|
|
#include <cmath>
|
|
|
|
static btScalar gSliderStackRows = 1.0f;
|
|
static btScalar gSliderStackColumns = 1.0f;
|
|
static btScalar gSliderStackHeight = 15.0f;
|
|
static btScalar gSliderStackWidth = 8.0f;
|
|
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
|
|
{
|
|
static const int kUpAxis = 1;
|
|
|
|
btRigidBody* localCreateRigidBody(btScalar mass, const btTransform& worldTransform, btCollisionShape* colSape);
|
|
|
|
btVector3 m_cameraTargetPos;
|
|
float m_cameraPitch;
|
|
float m_cameraYaw;
|
|
float m_cameraDist;
|
|
btRigidBody* m_groundBody;
|
|
btTransform m_groundStartXf;
|
|
float m_groundMovePhase;
|
|
float m_prevRollingFriction;
|
|
|
|
void createStack(const btTransform& trans, btCollisionShape* boxShape, const btVector3& halfBoxSize, int size, int width);
|
|
void createSceneObjects();
|
|
void destroySceneObjects();
|
|
|
|
public:
|
|
BT_DECLARE_ALIGNED_ALLOCATOR();
|
|
|
|
MultiThreadedDemo(struct GUIHelperInterface* helper);
|
|
|
|
virtual ~MultiThreadedDemo() {}
|
|
|
|
btQuaternion getGroundRotation() const
|
|
{
|
|
btScalar tilt = gSliderGroundTilt * SIMD_2_PI / 360.0f;
|
|
return btQuaternion(btVector3(1.0f, 0.0f, 0.0f), tilt);
|
|
}
|
|
struct TestSumBody : public btIParallelSumBody
|
|
{
|
|
virtual btScalar sumLoop(int iBegin, int iEnd) const BT_OVERRIDE
|
|
{
|
|
btScalar sum = 0.0f;
|
|
for (int i = iBegin; i < iEnd; ++i)
|
|
{
|
|
if (i > 0)
|
|
{
|
|
sum += 1.0f / btScalar(i);
|
|
}
|
|
}
|
|
return sum;
|
|
}
|
|
};
|
|
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
|
|
const float cyclesPerSecond = 1.0f;
|
|
m_groundMovePhase += cyclesPerSecond * deltaTime;
|
|
m_groundMovePhase -= std::floor(m_groundMovePhase); // keep phase between 0 and 1
|
|
btTransform xf = m_groundStartXf;
|
|
float gndHOffset = btSin(m_groundMovePhase * SIMD_2_PI) * gSliderGroundHorizontalAmplitude;
|
|
float gndHVel = btCos(m_groundMovePhase * SIMD_2_PI) * gSliderGroundHorizontalAmplitude * cyclesPerSecond * SIMD_2_PI; // d(gndHOffset)/dt
|
|
float gndVOffset = btSin(m_groundMovePhase * SIMD_2_PI) * gSliderGroundVerticalAmplitude;
|
|
float gndVVel = btCos(m_groundMovePhase * SIMD_2_PI) * gSliderGroundVerticalAmplitude * cyclesPerSecond * SIMD_2_PI; // d(gndVOffset)/dt
|
|
btVector3 offset(0, 0, 0);
|
|
btVector3 vel(0, 0, 0);
|
|
int horizAxis = 2;
|
|
offset[horizAxis] = gndHOffset;
|
|
vel[horizAxis] = gndHVel;
|
|
offset[kUpAxis] = gndVOffset;
|
|
vel[kUpAxis] = gndVVel;
|
|
xf.setOrigin(xf.getOrigin() + offset);
|
|
xf.setRotation(getGroundRotation());
|
|
m_groundBody->setWorldTransform(xf);
|
|
m_groundBody->setLinearVelocity(vel);
|
|
}
|
|
// always step by 1/60 for benchmarking
|
|
m_dynamicsWorld->stepSimulation(1.0f / 60.0f, 0);
|
|
}
|
|
#if 0
|
|
{
|
|
// test parallelSum
|
|
TestSumBody testSumBody;
|
|
float testSum = btParallelSum( 1, 10000000, 10000, testSumBody );
|
|
printf( "sum = %f\n", testSum );
|
|
}
|
|
#endif
|
|
}
|
|
|
|
virtual void initPhysics() BT_OVERRIDE;
|
|
virtual void resetCamera() BT_OVERRIDE
|
|
{
|
|
m_guiHelper->resetCamera(m_cameraDist,
|
|
m_cameraYaw,
|
|
m_cameraPitch,
|
|
m_cameraTargetPos.x(),
|
|
m_cameraTargetPos.y(),
|
|
m_cameraTargetPos.z());
|
|
}
|
|
};
|
|
|
|
MultiThreadedDemo::MultiThreadedDemo(struct GUIHelperInterface* helper)
|
|
: CommonRigidBodyMTBase(helper)
|
|
{
|
|
m_groundBody = NULL;
|
|
m_groundMovePhase = 0.0f;
|
|
m_cameraTargetPos = btVector3(0.0f, 0.0f, 0.0f);
|
|
m_cameraPitch = -30.0f;
|
|
m_cameraYaw = 90.0f;
|
|
m_cameraDist = 48.0f;
|
|
m_prevRollingFriction = -1.0f;
|
|
helper->setUpAxis(kUpAxis);
|
|
}
|
|
|
|
void MultiThreadedDemo::initPhysics()
|
|
{
|
|
createEmptyDynamicsWorld();
|
|
|
|
m_dynamicsWorld->setGravity(btVector3(0, -10, 0));
|
|
|
|
{
|
|
SliderParams slider("Stack height", &gSliderStackHeight);
|
|
slider.m_minVal = 1.0f;
|
|
slider.m_maxVal = 30.0f;
|
|
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;
|
|
slider.m_maxVal = 20.0f;
|
|
slider.m_clampToIntegers = true;
|
|
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
|
|
}
|
|
{
|
|
SliderParams slider("Stack columns", &gSliderStackColumns);
|
|
slider.m_minVal = 1.0f;
|
|
slider.m_maxVal = 20.0f;
|
|
slider.m_clampToIntegers = true;
|
|
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
|
|
}
|
|
{
|
|
// horizontal ground shake
|
|
SliderParams slider("Ground horiz amp", &gSliderGroundHorizontalAmplitude);
|
|
slider.m_minVal = 0.0f;
|
|
slider.m_maxVal = 1.0f;
|
|
slider.m_clampToNotches = false;
|
|
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
|
|
}
|
|
{
|
|
// vertical ground shake
|
|
SliderParams slider("Ground vert amp", &gSliderGroundVerticalAmplitude);
|
|
slider.m_minVal = 0.0f;
|
|
slider.m_maxVal = 1.0f;
|
|
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);
|
|
}
|
|
|
|
btRigidBody* MultiThreadedDemo::localCreateRigidBody(btScalar mass, const btTransform& startTransform, btCollisionShape* shape)
|
|
{
|
|
btRigidBody* body = createRigidBody(mass, startTransform, shape);
|
|
if (mass > 0.0f)
|
|
{
|
|
// prevent bodies from sleeping to make profiling/benchmarking easier
|
|
body->forceActivationState(DISABLE_DEACTIVATION);
|
|
}
|
|
return body;
|
|
}
|
|
|
|
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();
|
|
|
|
btVector3 offset = btVector3(0, 0, -halfBoxSize.z() * (width - 1));
|
|
for (int iZ = 0; iZ < width; iZ++)
|
|
{
|
|
offset += btVector3(0, 0, halfBoxSize.z() * 2.0f);
|
|
for (int iY = 0; iY < height; iY++)
|
|
{
|
|
// 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(parentTrans(pos));
|
|
btScalar mass = 1.f;
|
|
|
|
btRigidBody* body = localCreateRigidBody(mass, trans, boxShape);
|
|
body->setFriction(1.0f);
|
|
body->setRollingFriction(gSliderRollingFriction);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void MultiThreadedDemo::createSceneObjects()
|
|
{
|
|
{
|
|
// create ground box
|
|
m_groundStartXf.setOrigin(btVector3(0.f, -3.f, 0.f));
|
|
m_groundStartXf.setRotation(getGroundRotation());
|
|
|
|
//either use heightfield or triangle mesh
|
|
|
|
btVector3 groundExtents(400, 400, 400);
|
|
groundExtents[kUpAxis] = 3;
|
|
btCollisionShape* groundShape = new btBoxShape(groundExtents);
|
|
m_collisionShapes.push_back(groundShape);
|
|
|
|
//create ground object
|
|
m_groundBody = createKinematicBody(m_groundStartXf, groundShape);
|
|
m_groundBody->forceActivationState(DISABLE_DEACTIVATION);
|
|
m_groundBody->setFriction(1.0f);
|
|
}
|
|
|
|
{
|
|
// create walls of cubes
|
|
const btVector3 halfExtents = btVector3(0.5f, 0.25f, 0.5f);
|
|
int numStackRows = btMax(1, int(gSliderStackRows));
|
|
int numStackCols = btMax(1, int(gSliderStackColumns));
|
|
int stackHeight = int(gSliderStackHeight);
|
|
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);
|
|
btTransform trans = groundTrans;
|
|
trans.setOrigin(groundTrans(center));
|
|
createStack(trans, shape, halfExtents, stackHeight, stackWidth);
|
|
}
|
|
}
|
|
}
|
|
#if 0
|
|
if ( false )
|
|
{
|
|
// destroyer ball
|
|
btTransform sphereTrans;
|
|
sphereTrans.setIdentity();
|
|
sphereTrans.setOrigin( btVector3( 0, 2, 40 ) );
|
|
btSphereShape* ball = new btSphereShape( 2.f );
|
|
m_collisionShapes.push_back( ball );
|
|
btRigidBody* ballBody = localCreateRigidBody( 10000.f, sphereTrans, ball );
|
|
ballBody->setLinearVelocity( btVector3( 0, 0, -10 ) );
|
|
}
|
|
#endif
|
|
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
|
|
}
|
|
|
|
CommonExampleInterface* MultiThreadedDemoCreateFunc(struct CommonExampleOptions& options)
|
|
{
|
|
return new MultiThreadedDemo(options.m_guiHelper);
|
|
}
|