WorldLinearCastMultithreadedDemo::WorldLinearCastMultithreadedDemo(hkDemoEnvironment* env)
: hkDefaultPhysicsDemo(env),
m_time(0),
m_semaphore(0,1000)
{
const WorldLinearCastMultithreadedDemoVariant& variant = g_WorldLinearCastMultithreadedDemoVariants[m_variantId];
//
// Setup the camera.
//
{
hkVector4 from(0.0f, 10.0f, 30.0f);
hkVector4 to (0.0f, 0.0f, 0.0f);
hkVector4 up (0.0f, 1.0f, 0.0f);
setupDefaultCameras(env, from, to, up);
}
//
// Create the world.
//
{
hkpWorldCinfo info;
{
info.m_gravity.set(0.0f, -9.81f, 0.0f);
info.setBroadPhaseWorldSize( 100.0f );
info.m_collisionTolerance = .001f;
info.m_simulationType = hkpWorldCinfo::SIMULATION_TYPE_MULTITHREADED;
}
m_world = new hkpWorld(info);
m_world->lock();
// Register collision agents
hkpAgentRegisterUtil::registerAllAgents(m_world->getCollisionDispatcher());
setupGraphics();
}
//
// Create the underlying landscape
//
hkAabb aabb;
{
hkVector4 scaling(1.0f, 0.3f, 1.0f );
m_groundShapeFactory.setScaling( scaling );
m_groundShapeFactory.setTriangleRadius( 0.0f );
hkpMoppBvTreeShape* groundShape = m_groundShapeFactory.createMoppShapeForSpu();
{
hkpRigidBodyCinfo groundInfo;
groundInfo.m_shape = groundShape;
groundInfo.m_motionType = hkpMotion::MOTION_FIXED;
hkpRigidBody* b = new hkpRigidBody(groundInfo);
b->getCollidable()->getShape()->getAabb( b->getTransform(), 0.0f, aabb );
m_world->addEntity(b);
b->removeReference();
}
groundShape->removeReference();
}
// Create a selection of shapes
hkArray<hkpShape*> shapes;
createShapes( shapes );
// We would like to ensure that each object is placed on the surface of the landscape such
// that it is not penetrating and is resting on the surface. To do this we make use of world
// linear casting which will allow us to shape cast our objects against the landscape.
// Using the results of this cast we can easily position our objects in the desired manner.
{
hkPseudoRandomGenerator random(501);
int xRes = 8;
int yRes = 8;
for (int i = 0; i < xRes * yRes; i ++ )
{
// create a fixed rigid body info with a random orientation
hkpRigidBodyCinfo ci;
ci.m_shape = shapes[ random.getRandChar( shapes.getSize() ) ];
ci.m_motionType = hkpMotion::MOTION_FIXED;
random.getRandomRotation( ci.m_rotation );
// place it above the plane
ci.m_position.set( (1.8f * aabb.m_max(0)) * (-.5f + (i%xRes)/ float(xRes)),
aabb.m_max(1) + 10.0f,
(1.8f * aabb.m_max(2)) * (-.5f + (i/xRes)/ float(yRes)) );
// create the rigid body
hkpRigidBody* b = new hkpRigidBody(ci);
// To perform the linear casting we use a hkpLinearCastInput structure and
// set the end position of the cast (the start position is given by the
// location of our object). We then create a hkpClosestCdPointCollector
// to gather the results of the cast and then ask the world to perform
// the cast:
{
hkpLinearCastInput li;
li.m_to.set( ci.m_position(0), aabb.m_min(1), ci.m_position(2) );
hkpClosestCdPointCollector hitCollector;
m_world->linearCast( b->getCollidable(), li, hitCollector );
// Check for hits
if ( hitCollector.hasHit() )
{
hkVector4 position; position.setInterpolate4( ci.m_position, li.m_to, hitCollector.getHitContact().getDistance() );
b->setPosition( position );
}
}
m_world->addEntity( b );
m_rocksOnTheFloor.pushBack( b );
}
}
hkPseudoRandomGenerator generator(3245);
// Create query objects and phantoms from shapes
buildQueryObects( shapes, m_queryObjects );
// Remove shape references
{
for (int i = 0; i < shapes.getSize(); i++)
{
shapes[i]->removeReference();
shapes[i] = 0;
}
}
m_world->unlock();
hkpCollisionQueryJobQueueUtils::registerWithJobQueue(m_jobQueue);
// Special case for this demo variant: we do not allow the # of active SPUs to drop to zero as this can cause a deadlock.
if ( variant.m_demoType == WorldLinearCastMultithreadedDemoVariant::MULTITHREADED_ON_SPU ) m_allowZeroActiveSpus = false;
// register the default addCdPoint() function; you are free to register your own implementation here though
hkpFixedBufferCdPointCollector::registerDefaultAddCdPointFunction();
}
ShapeQueryDemo::ShapeQueryDemo(hkDemoEnvironment* env)
: hkDefaultPhysicsDemo(env), m_time(0)
{
// Setup the camera.
{
hkVector4 from(0.0f, 10.0f, 30.0f);
hkVector4 to (0.0f, 0.0f, 0.0f);
hkVector4 up (0.0f, 1.0f, 0.0f);
setupDefaultCameras(env, from, to, up);
}
// Create the world.
{
hkpWorldCinfo info;
info.m_gravity.set(0.0f, -9.81f, 0.0f);
info.setBroadPhaseWorldSize( 100.0f );
info.m_collisionTolerance = .001f;
m_world = new hkpWorld(info);
m_world->lock();
setupGraphics();
}
// Register collision agents
hkpAgentRegisterUtil::registerAllAgents( m_world->getCollisionDispatcher() );
//
// Create the underlying landscape
//
hkAabb aabb;
{
hkVector4 scaling(1.0f, 0.3f, 1.0f );
m_groundShapeFactory.setScaling( scaling );
m_groundShapeFactory.setTriangleRadius( 0.0f );
hkpMoppBvTreeShape* groundShape = m_groundShapeFactory.createMoppShape();
{
hkpRigidBodyCinfo groundInfo;
groundInfo.m_shape = groundShape;
groundInfo.m_motionType = hkpMotion::MOTION_FIXED;
hkpRigidBody* b = new hkpRigidBody(groundInfo);
b->getCollidable()->getShape()->getAabb( b->getTransform(), 0.0f, aabb );
m_world->addEntity(b);
b->removeReference();
}
groundShape->removeReference();
}
// Create a selection of shapes
hkArray<hkpShape*> shapes;
createShapes( shapes );
// We would like to ensure that each object is placed on the surface of the landscape such
// that it is not penetrating and is resting on the surface. To do this we make use of world
// linear casting which will allow us to shape cast our objects against the landscape.
// Using the results of this cast we can easily position our objects in the desired manner.
{
hkPseudoRandomGenerator random(501);
int xRes = 8;
int yRes = 8;
for (int i = 0; i < xRes * yRes; i ++ )
{
// create a fixed rigid body info with a random orientation
hkpRigidBodyCinfo ci;
ci.m_shape = shapes[ random.getRandChar( shapes.getSize() ) ];
ci.m_motionType = hkpMotion::MOTION_FIXED;
random.getRandomRotation( ci.m_rotation );
// place it above the plane
ci.m_position.set( (1.8f * aabb.m_max(0)) * (-.5f + (i%xRes)/ float(xRes)),
aabb.m_max(1) + 10.0f,
(1.8f * aabb.m_max(2)) * (-.5f + (i/xRes)/ float(yRes)) );
// create the rigid body
hkpRigidBody* b = new hkpRigidBody(ci);
// To perform the linear casting we use a hkpLinearCastInput structure and
// set the end position of the cast (the start position is given by the
// location of our object). We then create a hkpClosestCdPointCollector
// to gather the results of the cast and then ask the world to perform
// the cast:
{
hkpLinearCastInput li;
li.m_to.set( ci.m_position(0), aabb.m_min(1), ci.m_position(2) );
hkpClosestCdPointCollector hitCollector;
m_world->linearCast( b->getCollidable(), li, hitCollector );
// Check for hits
if ( hitCollector.hasHit() )
{
hkVector4 position; position.setInterpolate4( ci.m_position, li.m_to, hitCollector.getHitContact().getDistance() );
b->setPosition( position );
}
}
m_world->addEntity( b );
m_fixedSmallBodies.pushBack( b );
}
}
hkPseudoRandomGenerator generator(3245);
// Create query objects and phantoms from our shapes
if (m_variantId == 0)
{
// Only AABB phantoms are needed for the raycast variant
buildAabbPhantoms( m_world, 10, m_rayCastPhantoms, generator );
}
else
{
// Create query objects and phantoms from shapes
buildQueryObects( shapes, m_queryObjects );
buildSimplePhantoms( m_world, shapes, m_simplePhantoms, generator );
buildCachingPhantoms( m_world, shapes, m_cachingPhantoms, generator );
}
// Remove shape references
{
for (int i = 0; i < shapes.getSize(); i++)
{
shapes[i]->removeReference();
shapes[i] = 0;
}
}
m_world->unlock();
}
