void SpheresGridDemo::clientResetScene()
{
static bool bFirstCall = true;
DemoApplication::clientResetScene();
if(m_demoType != DEMO_INTEGRATION)
{
setRandomZCoordinate((m_demoType == DEMO_OE_CAKE_3D) ? 1.f : 0.f);
}
else
{
#if(!USE_BULLET_BODIES)
init_scene_directly();
#endif
}
if(bFirstCall)
{
bFirstCall = false;
}
else
{
#ifdef SPHERES_DEMO
m_pWorldS->grabSimulationData();
#endif//#ifdef SPHERES_DEMO
#ifdef INTEGRATION_DEMO
m_pWorldI->grabSimulationData();
#endif
}
}
void ParticlesDemo::clientResetScene()
{
static bool bFirstCall = true;
DemoApplication::clientResetScene();
init_scene_directly();
if(bFirstCall)
{
bFirstCall = false;
}
else
{
m_pWorld->grabSimulationData();
}
}
void ParticlesDemo::initPhysics()
{
setTexturing(false);
setShadows(false);
// setCameraDistance(80.f);
setCameraDistance(3.0f);
// m_cameraTargetPosition.setValue(50, 10, 0);
m_cameraTargetPosition.setValue(0, 0, 0);
// m_azi = btScalar(0.f);
// m_ele = btScalar(0.f);
m_azi = btScalar(45.f);
m_ele = btScalar(30.f);
setFrustumZPlanes(0.1f, 10.f);
///collision configuration contains default setup for memory, collision setup
btDefaultCollisionConstructionInfo dci;
dci.m_defaultMaxPersistentManifoldPoolSize=50000;
dci.m_defaultMaxCollisionAlgorithmPoolSize=50000;
m_collisionConfiguration = new btDefaultCollisionConfiguration(dci);
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
m_pairCache = new (btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16))btHashedOverlappingPairCache();
// m_broadphase = new btDbvtBroadphase(m_pairCache);
m_broadphase = new btNullBroadphase();
///the default constraint solver
m_solver = new btSequentialImpulseConstraintSolver();
m_pWorld = new btParticlesDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration, 65536);
m_dialogDynamicsWorld = new GL_DialogDynamicsWorld();
GL_DialogWindow* settings = m_dialogDynamicsWorld->createDialog(50,0,280,280,"CPU fallback");
m_pWorld->m_useCpuControls[0] = 0;
GL_ToggleControl* ctrl = 0;
m_pWorld->m_useCpuControls[SIMSTAGE_INTEGRATE_MOTION] = m_dialogDynamicsWorld->createToggle(settings,"Integrate Motion");
m_pWorld->m_useCpuControls[SIMSTAGE_COMPUTE_CELL_ID] = m_dialogDynamicsWorld->createToggle(settings,"Compute Cell ID");
m_pWorld->m_useCpuControls[SIMSTAGE_SORT_CELL_ID] = m_dialogDynamicsWorld->createToggle(settings,"Sort Cell ID");
m_pWorld->m_useCpuControls[SIMSTAGE_FIND_CELL_START] = m_dialogDynamicsWorld->createToggle(settings,"Find Cell Start");
m_pWorld->m_useCpuControls[SIMSTAGE_COLLIDE_PARTICLES] = m_dialogDynamicsWorld->createToggle(settings,"Collide Particles");
for(int i = 1; i < SIMSTAGE_TOTAL; i++)
{
m_pWorld->m_useCpuControls[i]->m_active = false;
}
#if defined(CL_PLATFORM_MINI_CL)
// these kernels use barrier()
m_pWorld->m_useCpuControls[SIMSTAGE_SORT_CELL_ID]->m_active = true;
m_pWorld->m_useCpuControls[SIMSTAGE_FIND_CELL_START]->m_active = true;
#endif
#if defined(CL_PLATFORM_AMD)
// these kernels use barrier()
m_pWorld->m_useCpuControls[SIMSTAGE_SORT_CELL_ID]->m_active = true;
m_pWorld->m_useCpuControls[SIMSTAGE_FIND_CELL_START]->m_active = true;
#endif
m_dynamicsWorld = m_pWorld;
m_pWorld->getSimulationIslandManager()->setSplitIslands(true);
m_pWorld->setGravity(btVector3(0,-10.,0));
m_pWorld->getSolverInfo().m_numIterations = 4;
{
// btCollisionShape* colShape = new btSphereShape(btScalar(1.0f));
/*
btCollisionShape* colShape = new btSphereShape(DEF_PARTICLE_RADIUS);
m_collisionShapes.push_back(colShape);
btTransform startTransform;
startTransform.setIdentity();
btScalar mass(1.f);
btVector3 localInertia(0,0,0);
colShape->calculateLocalInertia(mass,localInertia);
float start_x = START_POS_X - ARRAY_SIZE_X * DIST * btScalar(0.5f);
float start_y = START_POS_Y - ARRAY_SIZE_Y * DIST * btScalar(0.5f);
float start_z = START_POS_Z - ARRAY_SIZE_Z * DIST * btScalar(0.5f);
startTransform.setOrigin(btVector3(start_x, start_y, start_z));
btRigidBodyConstructionInfo rbInfo(mass,0,colShape,localInertia);
rbInfo.m_startWorldTransform = startTransform;
btRigidBody* body = new btRigidBody(rbInfo);
m_pWorld->addRigidBody(body);
*/
init_scene_directly();
}
clientResetScene();
m_pWorld->initDeviceData();
}
void SpheresGridDemo::initPhysics()
{
setTexturing(false);
setShadows(false);
setCameraDistance(80.);
m_cameraTargetPosition.setValue(50, 10, 0);
m_azi = btScalar(0.f);
m_ele = btScalar(0.f);
///collision configuration contains default setup for memory, collision setup
btDefaultCollisionConstructionInfo dci;
dci.m_defaultMaxPersistentManifoldPoolSize=50000;
dci.m_defaultMaxCollisionAlgorithmPoolSize=50000;
m_collisionConfiguration = new btDefaultCollisionConfiguration(dci);
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
m_pairCache = new (btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16))btHashedOverlappingPairCache();
// m_broadphase = new btDbvtBroadphase(m_pairCache);
m_broadphase = new btNullBroadphase();
///the default constraint solver
m_solver = new btSequentialImpulseConstraintSolver();
#ifdef INTEGRATION_DEMO
m_pWorldI = new btIntegrationDemoDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration, 65536);
#endif
#ifdef SPHERES_DEMO
m_pWorldS = new btSpheresGridDemoDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration, 65536);
#endif
#ifdef SPHERES_DEMO
m_dialogDynamicsWorld = new GL_DialogDynamicsWorld();
GL_DialogWindow* settings = m_dialogDynamicsWorld->createDialog(50,0,280,280,"CPU fallback");
m_pWorldS->m_useCpuControls[0] = 0;
GL_ToggleControl* ctrl = 0;
m_pWorldS->m_useCpuControls[SIMSTAGE_APPLY_GRAVITY] = m_dialogDynamicsWorld->createToggle(settings,"Apply Gravity");
m_pWorldS->m_useCpuControls[SIMSTAGE_COMPUTE_CELL_ID] = m_dialogDynamicsWorld->createToggle(settings,"Compute Cell ID");
m_pWorldS->m_useCpuControls[SIMSTAGE_SORT_CELL_ID] = m_dialogDynamicsWorld->createToggle(settings,"Sort Cell ID");
m_pWorldS->m_useCpuControls[SIMSTAGE_FIND_CELL_START] = m_dialogDynamicsWorld->createToggle(settings,"Find Cell Start");
m_pWorldS->m_useCpuControls[SIMSTAGE_FIND_PAIRS] = m_dialogDynamicsWorld->createToggle(settings,"Find Pairs");
m_pWorldS->m_useCpuControls[SIMSTAGE_SCAN_PAIRS] = m_dialogDynamicsWorld->createToggle(settings,"Scan Pairs");
m_pWorldS->m_useCpuControls[SIMSTAGE_COMPACT_PAIRS] = m_dialogDynamicsWorld->createToggle(settings,"Compact Pairs");
m_pWorldS->m_useCpuControls[SIMSTAGE_COMPUTE_BATCHES] = m_dialogDynamicsWorld->createToggle(settings,"Compute Batches");
m_pWorldS->m_useCpuControls[SIMSTAGE_COMPUTE_CONTACTS] = m_dialogDynamicsWorld->createToggle(settings,"Compute Contacts");
m_pWorldS->m_useCpuControls[SIMSTAGE_SOLVE_CONSTRAINTS] = m_dialogDynamicsWorld->createToggle(settings,"Solve Constraints");
m_pWorldS->m_useCpuControls[SIMSTAGE_INTEGRATE_TRANSFORMS] = m_dialogDynamicsWorld->createToggle(settings,"Integrate Transforms");
m_pWorldS->m_useCpuControls[SIMSTAGE_KERNEL_COLLIDE_SPHERE_WALLS] = m_dialogDynamicsWorld->createToggle(settings,"Collide Sphere Walls");
for(int i = 1; i < SIMSTAGE_TOTAL; i++)
{
m_pWorldS->m_useCpuControls[i]->m_active = false;
}
#if defined(CL_PLATFORM_MINI_CL)
m_pWorldS->m_useCpuControls[SIMSTAGE_SCAN_PAIRS]->m_active = true;
m_pWorldS->m_useCpuControls[SIMSTAGE_SORT_CELL_ID]->m_active = true;
m_pWorldS->m_useCpuControls[SIMSTAGE_COMPUTE_CONTACTS]->m_active = true;
#endif
#if defined(CL_PLATFORM_AMD)
m_pWorldS->m_useCpuControls[SIMSTAGE_SORT_CELL_ID]->m_active = true; // sloooow, incorrect, crashes application
m_pWorldS->m_useCpuControls[SIMSTAGE_FIND_CELL_START]->m_active = true; // run-time error "Unimplemented"
m_pWorldS->m_useCpuControls[SIMSTAGE_SCAN_PAIRS]->m_active = true; // works, but very slow (up to 100 times)
m_pWorldS->m_useCpuControls[SIMSTAGE_COMPUTE_BATCHES]->m_active = true; // run-time error "Unimplemented"
#endif
#endif //#ifdef SPHERES_DEMO
if(m_demoType == DEMO_INTEGRATION)
{
#ifdef INTEGRATION_DEMO
m_dynamicsWorld = m_pWorldI;
#endif
}
else
{
#ifdef SPHERES_DEMO
m_dynamicsWorld = m_pWorldS;
#endif //#ifdef SPHERES_DEMO
}
#ifdef INTEGRATION_DEMO
m_pWorldI->getSimulationIslandManager()->setSplitIslands(true);
m_pWorldI->setGravity(btVector3(0,-10.,0));
m_pWorldI->getSolverInfo().m_numIterations = 4;
#endif //INTEGRATION_DEMO
#ifdef SPHERES_DEMO
m_pWorldS->getSimulationIslandManager()->setSplitIslands(true);
m_pWorldS->setGravity(btVector3(0,-10.,0));
m_pWorldS->getSolverInfo().m_numIterations = 4;
#endif //#ifdef SPHERES_DEMO
{
btCollisionShape* colShape = new btSphereShape(btScalar(1.0f));
m_collisionShapes.push_back(colShape);
btTransform startTransform;
startTransform.setIdentity();
btScalar mass(1.f);
btVector3 localInertia(0,0,0);
colShape->calculateLocalInertia(mass,localInertia);
float start_x = START_POS_X - ARRAY_SIZE_X * DIST * btScalar(0.5f);
float start_y = START_POS_Y - ARRAY_SIZE_Y * DIST * btScalar(0.5f);
float start_z = START_POS_Z - ARRAY_SIZE_Z * DIST * btScalar(0.5f);
#if USE_BULLET_BODIES
// may be very slow for > 10K bodies
printf("\nGenerating bodies ...\n");
int total = ARRAY_SIZE_X * ARRAY_SIZE_Y * ARRAY_SIZE_Z;
int done = 0;
for (int k=0;k<ARRAY_SIZE_Y;k++)
{
for (int i=0;i<ARRAY_SIZE_X;i++)
{
for(int j = 0;j<ARRAY_SIZE_Z;j++)
{
startTransform.setOrigin(btVector3(
DIST*i + start_x,
DIST*k + start_y,
DIST*j + start_z));
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,0,colShape,localInertia);
rbInfo.m_startWorldTransform = startTransform;
btRigidBody* body = new btRigidBody(rbInfo);
m_pWorldI->addRigidBody(body);
done++;
}
}
printf("%6d of %6d\r", done, total);
fflush(stdout);
}
printf("\n... Done!\n");
#else
// add just one sphere
#ifdef INTEGRATION_DEMO
startTransform.setOrigin(btVector3(start_x, start_y, start_z));
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,0,colShape,localInertia);
rbInfo.m_startWorldTransform = startTransform;
btRigidBody* body = new btRigidBody(rbInfo);
m_pWorldI->addRigidBody(body);
#endif
// now fill m_hPos and m_hLinVel directly
init_scene_directly();
#endif
}
btDynamicsWorld* tmpW = m_dynamicsWorld;
#ifdef SPHERES_DEMO
m_dynamicsWorld = m_pWorldS;
SpheresGridDemoOecakeLoader loader(this);
//loader.processFile("test1.oec");
#if 1 /// stress test
btCompoundShape* compound = new btCompoundShape();
btSphereShape* sphere = new btSphereShape(1.f);
btTransform localTrans;
localTrans.setIdentity();
localTrans.setOrigin(btVector3(0,0,0));
compound->addChildShape(localTrans,sphere);
//localTrans.setOrigin(btVector3(-1,0,0));
//compound->addChildShape(localTrans,sphere);
btTransform trans;
trans.setIdentity();
btVector3 offset(0.00001,0.00001,0.00001);
for (int j=0;j<STRESS_X;j++)
for (int i=0;i<STRESS_Y;i++)
{
trans.setOrigin(offset*i+btVector3(25+j*6,30+i*3,0.));
loader.createBodyForCompoundShape(compound,false,trans,1.);
}
#endif
m_dynamicsWorld = tmpW;
#else
m_dynamicsWorld = m_pWorldI;
#endif//#ifdef SPHERES_DEMO
clientResetScene();
#ifdef INTEGRATION_DEMO
m_pWorldI->initDeviceData();
#endif
#ifdef SPHERES_DEMO
m_pWorldS->initDeviceData();
#endif
print_used_device();
}
