btThreadSupportInterface* createSolverThreadSupport(int maxNumThreads)
{
#define SEQUENTIAL
#ifdef SEQUENTIAL
SequentialThreadSupport::SequentialThreadConstructionInfo tci("solverThreads",SolverThreadFunc,SolverlsMemoryFunc);
SequentialThreadSupport* threadSupport = new SequentialThreadSupport(tci);
threadSupport->startSPU();
#else
#ifdef _WIN32
Win32ThreadSupport::Win32ThreadConstructionInfo threadConstructionInfo("solverThreads",SolverThreadFunc,SolverlsMemoryFunc,maxNumThreads);
Win32ThreadSupport* threadSupport = new Win32ThreadSupport(threadConstructionInfo);
threadSupport->startSPU();
#elif defined (USE_PTHREADS)
PosixThreadSupport::ThreadConstructionInfo solverConstructionInfo("solver", SolverThreadFunc,
SolverlsMemoryFunc, maxNumThreads);
PosixThreadSupport* threadSupport = new PosixThreadSupport(solverConstructionInfo);
#else
SequentialThreadSupport::SequentialThreadConstructionInfo tci("solverThreads",SolverThreadFunc,SolverlsMemoryFunc);
SequentialThreadSupport* threadSupport = new SequentialThreadSupport(tci);
threadSupport->startSPU();
#endif
#endif
return threadSupport;
}
//#define SEQUENTIAL
btThreadSupportInterface* createSolverThreadSupport(int maxNumThreads)
{
#ifdef SEQUENTIAL
SequentialThreadSupport::SequentialThreadConstructionInfo tci("solverThreads", SolverThreadFunc, SolverlsMemoryFunc);
SequentialThreadSupport* threadSupport = new SequentialThreadSupport(tci);
threadSupport->startSPU();
#else
Win32ThreadSupport::Win32ThreadConstructionInfo threadConstructionInfo("solverThreads", SolverThreadFunc, SolverlsMemoryFunc, maxNumThreads);
Win32ThreadSupport* threadSupport = new Win32ThreadSupport(threadConstructionInfo);
threadSupport->startSPU();
#endif
return threadSupport;
}
void timer::process(const clock_info& ci)
{
// calculate timer delta time instead of clock delta time
double dt = ci.time - start_clock_info_.time;
clock_info tci(ci.time, dt);
// reset first
start_clock_info_.time = ci.time;
fire_ += frequency_;
kernel_.enqueue( this );
if(handler_)
{
handler_(tci);
}
}
btThreadSupportInterface* jmePhysicsSpace::createDispatchThreadSupport(int maxNumThreads) {
#ifdef _WIN32
Win32ThreadSupport::Win32ThreadConstructionInfo threadConstructionInfo("solverThreads", processCollisionTask, createCollisionLocalStoreMemory, maxNumThreads);
Win32ThreadSupport* threadSupport = new Win32ThreadSupport(threadConstructionInfo);
threadSupport->startSPU();
#elif defined (USE_PTHREADS)
PosixThreadSupport::ThreadConstructionInfo solverConstructionInfo("solver", processCollisionTask,
createCollisionLocalStoreMemory, maxNumThreads);
PosixThreadSupport* threadSupport = new PosixThreadSupport(solverConstructionInfo);
threadSupport->startSPU();
#else
SequentialThreadSupport::SequentialThreadConstructionInfo tci("solverThreads", processCollisionTask, createCollisionLocalStoreMemory);
SequentialThreadSupport* threadSupport = new SequentialThreadSupport(tci);
threadSupport->startSPU();
#endif
return threadSupport;
}
btThreadSupportInterface* jmePhysicsSpace::createSolverThreadSupport(int maxNumThreads) {
#ifdef _WIN32
Win32ThreadSupport::Win32ThreadConstructionInfo threadConstructionInfo("solverThreads", SolverThreadFunc, SolverlsMemoryFunc, maxNumThreads);
Win32ThreadSupport* threadSupport = new Win32ThreadSupport(threadConstructionInfo);
threadSupport->startSPU();
#elif defined (USE_PTHREADS)
PosixThreadSupport::ThreadConstructionInfo constructionInfo("collision", SolverThreadFunc,
SolverlsMemoryFunc, maxNumThreads);
PosixThreadSupport* threadSupport = new PosixThreadSupport(constructionInfo);
threadSupport->startSPU();
#else
SequentialThreadSupport::SequentialThreadConstructionInfo tci("solverThreads", SolverThreadFunc, SolverlsMemoryFunc);
SequentialThreadSupport* threadSupport = new SequentialThreadSupport(tci);
threadSupport->startSPU();
#endif
return threadSupport;
}
void ConcaveRaycastDemo::initPhysics()
{
#define TRISIZE 10.f
int vertStride = sizeof(btVector3);
int indexStride = 3*sizeof(int);
const int totalTriangles = 2*(NUM_VERTS_X-1)*(NUM_VERTS_Y-1);
gVertices = new btVector3[totalVerts];
gIndices = new int[totalTriangles*3];
int i;
setVertexPositions(waveheight,0.f);
int index=0;
for ( i=0;i<NUM_VERTS_X-1;i++)
{
for (int j=0;j<NUM_VERTS_Y-1;j++)
{
gIndices[index++] = j*NUM_VERTS_X+i;
gIndices[index++] = j*NUM_VERTS_X+i+1;
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
gIndices[index++] = j*NUM_VERTS_X+i;
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
gIndices[index++] = (j+1)*NUM_VERTS_X+i;
}
}
m_indexVertexArrays = new btTriangleIndexVertexArray(totalTriangles,
gIndices,
indexStride,
totalVerts,(btScalar*) &gVertices[0].x(),vertStride);
bool useQuantizedAabbCompression = true;
trimeshShape = new btBvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression);
m_collisionShapes.push_back(trimeshShape);
btCollisionShape* groundShape = trimeshShape;
m_collisionConfiguration = new btDefaultCollisionConfiguration();
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
btVector3 worldMin(-1000,-1000,-1000);
btVector3 worldMax(1000,1000,1000);
m_broadphase = new btAxisSweep3(worldMin,worldMax);
m_solver = new btSequentialImpulseConstraintSolver();
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
m_dynamicsWorld->getSolverInfo().m_splitImpulse=true;
m_dynamicsWorld->setDebugDrawer(&sDebugDraw);
float mass = 0.f;
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0,-2,0));
btCollisionShape* colShape = new btBoxShape(btVector3(1,1,1));
m_collisionShapes.push_back(colShape);
{
for (int i=0;i<10;i++)
{
//btCollisionShape* colShape = new btCapsuleShape(0.5,2.0);//boxShape = new btSphereShape(1.f);
startTransform.setOrigin(btVector3(2*i,10,1));
localCreateRigidBody(1, startTransform,colShape);
}
}
startTransform.setIdentity();
staticBody = localCreateRigidBody(mass, startTransform,groundShape);
staticBody->setCollisionFlags(staticBody->getCollisionFlags() | btCollisionObject::CF_STATIC_OBJECT);
#ifdef BATCH_RAYCASTER
int maxNumOutstandingTasks = 4;
#ifdef USE_WIN32_THREADING
Win32ThreadSupport::Win32ThreadConstructionInfo tci("batch raycast",
processRaycastTask,
createRaycastLocalStoreMemory,
maxNumOutstandingTasks);
m_threadSupportRaycast = new Win32ThreadSupport(tci);
printf("m_threadSupportRaycast = %p\n", m_threadSupportRaycast);
#endif
gBatchRaycaster = new SpuBatchRaycaster (m_threadSupportRaycast, maxNumOutstandingTasks, m_dynamicsWorld->getCollisionObjectArray(), m_dynamicsWorld->getNumCollisionObjects());
#endif
raycastBar = btRaycastBar (4000.0, 0.0);
//raycastBar = btRaycastBar (true, 40.0, -50.0, 50.0);
}