void physics_simulate()
{
PfxPerfCounter pc;
for(int i=1;i<numRigidBodies;i++) {
pfxApplyExternalForce(states[i],bodies[i],bodies[i].getMass()*PfxVector3(0.0f,-9.8f,0.0f),PfxVector3(0.0f),timeStep);
}
perf_push_marker("broadphase");
pc.countBegin("broadphase");
broadphase();
pc.countEnd();
perf_pop_marker();
perf_push_marker("collision");
pc.countBegin("collision");
collision();
pc.countEnd();
perf_pop_marker();
perf_push_marker("solver");
pc.countBegin("solver");
constraintSolver();
pc.countEnd();
perf_pop_marker();
perf_push_marker("sleepCheck");
pc.countBegin("sleepCheck");
sleepOrWakeup();
pc.countEnd();
perf_pop_marker();
perf_push_marker("integrate");
pc.countBegin("integrate");
integrate();
pc.countEnd();
perf_pop_marker();
perf_push_marker("castRays");
pc.countBegin("castRays");
castRays();
pc.countEnd();
perf_pop_marker();
frame++;
if(frame%100 == 0) {
float broadphaseTime = pc.getCountTime(0);
float collisionTime = pc.getCountTime(2);
float solverTime = pc.getCountTime(4);
float sleepTime = pc.getCountTime(6);
float integrateTime = pc.getCountTime(8);
float raycastTime = pc.getCountTime(10);
SCE_PFX_PRINTF("frame %3d broadphase %.2f collision %.2f solver %.2f sleepCheck %.2f integrate %.2f raycast %.2f | total %.2f\n",frame,
broadphaseTime,collisionTime,solverTime,sleepTime,integrateTime,raycastTime,
broadphaseTime+collisionTime+solverTime+sleepTime+integrateTime+raycastTime);
}
}
int main(int argc,char** argv)
{
clientResetScene();
SimdMatrix3x3 basisA;
basisA.setIdentity();
SimdMatrix3x3 basisB;
basisB.setIdentity();
objects[0].m_worldTransform.setBasis(basisA);
objects[1].m_worldTransform.setBasis(basisB);
SimdPoint3 points0[3]={SimdPoint3(1,0,0),SimdPoint3(0,1,0),SimdPoint3(0,0,1)};
SimdPoint3 points1[5]={SimdPoint3(1,0,0),SimdPoint3(0,1,0),SimdPoint3(0,0,1),SimdPoint3(0,0,-1),SimdPoint3(-1,-1,0)};
BoxShape boxA(SimdVector3(1,1,1));
BoxShape boxB(SimdVector3(0.5,0.5,0.5));
//ConvexHullShape hullA(points0,3);
//hullA.setLocalScaling(SimdVector3(3,3,3));
//ConvexHullShape hullB(points1,4);
//hullB.setLocalScaling(SimdVector3(4,4,4));
objects[0].m_collisionShape = &boxA;//&hullA;
objects[1].m_collisionShape = &boxB;//&hullB;
CollisionDispatcher dispatcher;
//SimpleBroadphase broadphase;
SimdVector3 worldAabbMin(-1000,-1000,-1000);
SimdVector3 worldAabbMax(1000,1000,1000);
AxisSweep3 broadphase(worldAabbMin,worldAabbMax);
collisionWorld = new CollisionWorld(&dispatcher,&broadphase);
collisionWorld->AddCollisionObject(&objects[0]);
collisionWorld->AddCollisionObject(&objects[1]);
return glutmain(argc, argv,screenWidth,screenHeight,"Collision Interface Demo");
}
void physics_simulate()
{
BT_PROFILE("physics_simulate");
PfxPerfCounter pc;
for(int i=1;i<numRigidBodies;i++) {
pfxApplyExternalForce(states[i],bodies[i],bodies[i].getMass()*PfxVector3(0.0f,-9.8f,0.0f),PfxVector3(0.0f),timeStep);
}
// perf_push_marker("broadphase");
// pc.countBegin("broadphase");
{
BT_PROFILE("broadphase");
broadphase();
}
//
//pc.countEnd();
// perf_pop_marker();
// perf_push_marker("collision");
// pc.countBegin("collision");
{
BT_PROFILE("collision");
collision();
}
// pc.countEnd();
// perf_pop_marker();
// perf_push_marker("solver");
// pc.countBegin("solver");
{
BT_PROFILE("constraintSolver");
constraintSolver();
if (!peSolverEnabled)
BulletConstraintSolver();
}
// pc.countEnd();
// perf_pop_marker();
// perf_push_marker("integrate");
// pc.countBegin("integrate");
{
BT_PROFILE("integrate");
integrate();
}
// pc.countEnd();
// perf_pop_marker();
frame++;
if (0)////if(frame%100 == 0)
{
float broadphaseTime = pc.getCountTime(0);
float collisionTime = pc.getCountTime(2);
float solverTime = pc.getCountTime(4);
float integrateTime = pc.getCountTime(6);
SCE_PFX_PRINTF("#pairs = %d, #contacts = %d\n", curNumPairs, curTotalContacts);
SCE_PFX_PRINTF("frame %3d broadphase %.2f collision %.2f solver %.2f integrate %.2f | total %.2f\n",frame,
broadphaseTime,collisionTime,solverTime,integrateTime,
broadphaseTime+collisionTime+solverTime+integrateTime);
}
}
int main(int argc, char** argv) {
sf::RenderWindow* RenderWin = new sf::RenderWindow(sf::VideoMode(WIDTH, HEIGHT, 32), "lol test");
RenderWin->UseVerticalSync(true);
// Collision configuration contains default setup for memory, collision setup. Advanced users can create their own configuration.
boost::shared_ptr<btDefaultCollisionConfiguration> collisionConfiguration(new btDefaultCollisionConfiguration());
// Use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded).
boost::shared_ptr<btCollisionDispatcher> dispatcher(new btCollisionDispatcher(collisionConfiguration.get()));
// btDbvtBroadphase is a good general purpose broadphase. You can also try out btAxis3Sweep.
boost::shared_ptr<btBroadphaseInterface> broadphase(new btDbvtBroadphase());
// The default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded).
boost::shared_ptr<btVoronoiSimplexSolver> simplex(new btVoronoiSimplexSolver());
boost::shared_ptr<btMinkowskiPenetrationDepthSolver> pd_solver(new btMinkowskiPenetrationDepthSolver());
boost::shared_ptr<btSequentialImpulseConstraintSolver> solver(new btSequentialImpulseConstraintSolver());
boost::shared_ptr<btDiscreteDynamicsWorld> dynamicsWorld(new btDiscreteDynamicsWorld(dispatcher.get(), broadphase.get(), solver.get(), collisionConfiguration.get()));
boost::shared_ptr<btConvex2dConvex2dAlgorithm::CreateFunc> convex_algo_2d(new btConvex2dConvex2dAlgorithm::CreateFunc(simplex.get(),pd_solver.get()));
dispatcher->registerCollisionCreateFunc(CONVEX_2D_SHAPE_PROXYTYPE,CONVEX_2D_SHAPE_PROXYTYPE, convex_algo_2d.get());
dispatcher->registerCollisionCreateFunc(BOX_2D_SHAPE_PROXYTYPE,CONVEX_2D_SHAPE_PROXYTYPE, convex_algo_2d.get());
dispatcher->registerCollisionCreateFunc(CONVEX_2D_SHAPE_PROXYTYPE,BOX_2D_SHAPE_PROXYTYPE, convex_algo_2d.get());
dispatcher->registerCollisionCreateFunc(BOX_2D_SHAPE_PROXYTYPE,BOX_2D_SHAPE_PROXYTYPE, new btBox2dBox2dCollisionAlgorithm::CreateFunc());
// Set gravity to 9.8m/s² along y-axis.
dynamicsWorld->setGravity(btVector3(0, 1, 0));
// Get us some debug output. Without this, we'd see nothing at all.
boost::shared_ptr<DebugDraw> debugDraw(new DebugDraw(RenderWin));
debugDraw->setDebugMode(btIDebugDraw::DBG_DrawWireframe);
dynamicsWorld->setDebugDrawer(debugDraw.get());
// Keep track of the shapes, we release memory at exit.
// Make sure to re-use collision shapes among rigid bodies whenever possible!
btAlignedObjectArray<btCollisionShape*> collisionShapes;
// Create a ground body.
btScalar thickness(0.2);
boost::shared_ptr<btCollisionShape> groundShape(new btBoxShape(btVector3(btScalar(WIDTH / 2 * METERS_PER_PIXEL), thickness, btScalar(10))));
collisionShapes.push_back(groundShape.get());
btTransform groundTransform(btQuaternion(0, 0, 0, 1), btVector3(WIDTH / 2 * METERS_PER_PIXEL, HEIGHT * METERS_PER_PIXEL, 0));
// Using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects.
boost::shared_ptr<btDefaultMotionState> groundMotionState(new btDefaultMotionState(groundTransform));
btRigidBody::btRigidBodyConstructionInfo ground_rbInfo(0, groundMotionState.get(), groundShape.get(), btVector3(0, 0, 0));
boost::shared_ptr<btRigidBody> ground_body(new btRigidBody(ground_rbInfo));
ground_body->setLinearFactor(btVector3(1,1,0));
ground_body->setAngularFactor(btVector3(0,0,1));
// Add the body to the dynamics world.
dynamicsWorld->addRigidBody(ground_body.get());
// Create left wall.
btTransform leftWallTransform(btQuaternion(0, 0, 1, 1), btVector3(0, HEIGHT / 2 * METERS_PER_PIXEL, 0));
boost::shared_ptr<btDefaultMotionState> leftWallMotionState(new btDefaultMotionState(leftWallTransform));
btRigidBody::btRigidBodyConstructionInfo leftWall_rbInfo(0, leftWallMotionState.get(), groundShape.get(), btVector3(0, 0, 0));
boost::shared_ptr<btRigidBody> leftwall_body(new btRigidBody(leftWall_rbInfo));
leftwall_body->setLinearFactor(btVector3(1,1,0));
leftwall_body->setAngularFactor(btVector3(0,0,1));
// Add the body to the dynamics world.
dynamicsWorld->addRigidBody(leftwall_body.get());
// Create right wall.
btTransform rightWallTransform(btQuaternion(0, 0, 1, 1), btVector3(WIDTH * METERS_PER_PIXEL, HEIGHT / 2 * METERS_PER_PIXEL, 0));
boost::shared_ptr<btDefaultMotionState> rightWallMotionState(new btDefaultMotionState(rightWallTransform));
btRigidBody::btRigidBodyConstructionInfo rightWall_rbInfo(0, rightWallMotionState.get(), groundShape.get(), btVector3(0, 0, 0));
boost::shared_ptr<btRigidBody> rightwall_body(new btRigidBody(rightWall_rbInfo));
rightwall_body->setLinearFactor(btVector3(1,1,0));
rightwall_body->setAngularFactor(btVector3(0,0,1));
// Add the body to the dynamics world.
dynamicsWorld->addRigidBody(rightwall_body.get());
// Create ceiling
btTransform topWallTransform(btQuaternion(0, 0, 0, 1), btVector3(WIDTH / 2 * METERS_PER_PIXEL, 0, 0));
boost::shared_ptr<btDefaultMotionState> topWallMotionState(new btDefaultMotionState(topWallTransform));
btRigidBody::btRigidBodyConstructionInfo topWall_rbInfo(0, topWallMotionState.get(), groundShape.get(), btVector3(0, 0, 0));
boost::shared_ptr<btRigidBody> topwall_body(new btRigidBody(topWall_rbInfo));
topwall_body->setLinearFactor(btVector3(1,1,0));
topwall_body->setAngularFactor(btVector3(0,0,1));
// Add the body to the dynamics world.
dynamicsWorld->addRigidBody(topwall_body.get());
// Create dynamic rigid body.
//btCollisionShape* colShape = new btBoxShape(btVector3(1,1,1));
boost::shared_ptr<btCollisionShape> colShape(new btSphereShape(btScalar(0.6)));
collisionShapes.push_back(colShape.get());
/// Create Dynamic Objects
btTransform startTransform;
startTransform.setIdentity();
btScalar mass(1.f);
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.f);
btVector3 localInertia(0, 0, 0);
if (isDynamic)
colShape->calculateLocalInertia(mass,localInertia);
startTransform.setOrigin(btVector3(2, 5, 0));
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
boost::shared_ptr<btDefaultMotionState> myMotionState(new btDefaultMotionState(startTransform));
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState.get(),colShape.get(),localInertia);
boost::shared_ptr<btRigidBody> body(new btRigidBody(rbInfo));
body->setLinearFactor(btVector3(1,1,0));
body->setAngularFactor(btVector3(0,0,1));
dynamicsWorld->addRigidBody(body.get());
// Create lulz
boost::ptr_list<btRigidBody> body_list;
boost::ptr_list<btDefaultMotionState> motionstate_list;
boost::ptr_list<btCollisionShape> colshape_list;
for (int i=0;i <= 10; ++i) {
if (i < 5)
colshape_list.push_back(new btSphereShape(btScalar(sf::Randomizer::Random(0.1f, 0.8f))));
else
colshape_list.push_back(new btBoxShape(btVector3(sf::Randomizer::Random(0.1f,0.8f), sf::Randomizer::Random(0.1f,0.8f), 10)));
if (isDynamic)
colshape_list.back().calculateLocalInertia(mass,localInertia);
collisionShapes.push_back(&(colshape_list.back()));
startTransform.setIdentity();
startTransform.setOrigin(btVector3(i,i,0));
motionstate_list.push_back(new btDefaultMotionState(startTransform));
btRigidBody* lol = new btRigidBody(btRigidBody::btRigidBodyConstructionInfo(mass,&(motionstate_list.back()),&(colshape_list.back()),localInertia));
lol->setLinearFactor(btVector3(1,1,0));
lol->setAngularFactor(btVector3(0,0,1));
body_list.push_back(lol);
}
BOOST_FOREACH (btRigidBody& body, body_list) {
dynamicsWorld->addRigidBody(&body);
}
