b3ThreadSupportInterface* createUDPThreadSupport(int numThreads)
{
b3Win32ThreadSupport::Win32ThreadConstructionInfo threadConstructionInfo("UDPThread", UDPThreadFunc, UDPlsMemoryFunc, numThreads);
b3Win32ThreadSupport* threadSupport = new b3Win32ThreadSupport(threadConstructionInfo);
return threadSupport;
}
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;
}
b3ThreadSupportInterface* createMotionThreadSupport(int numThreads)
{
b3Win32ThreadSupport::Win32ThreadConstructionInfo threadConstructionInfo("MotionThreads",MotionThreadFunc,MotionlsMemoryFunc,numThreads);
b3Win32ThreadSupport* threadSupport = new b3Win32ThreadSupport(threadConstructionInfo);
return threadSupport;
}
b3ThreadSupportInterface* createExampleBrowserThreadSupport(int numThreads)
{
b3Win32ThreadSupport::Win32ThreadConstructionInfo threadConstructionInfo("testThreads",ExampleBrowserThreadFunc,ExampleBrowserMemoryFunc,numThreads);
b3Win32ThreadSupport* threadSupport = new b3Win32ThreadSupport(threadConstructionInfo);
return threadSupport;
}
btThreadSupportInterface* createThreadSupport(int numThreads)
{
Win32ThreadSupport::Win32ThreadConstructionInfo threadConstructionInfo("testThreads",SampleThreadFunc,SamplelsMemoryFunc,numThreads);
Win32ThreadSupport* threadSupport = new Win32ThreadSupport(threadConstructionInfo);
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;
}
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 BasicDemo3D::initPhysics()
{
setTexturing(true);
setShadows(false);
// setCameraDistance(btScalar(SCALING*50.));
#if LARGE_DEMO
setCameraDistance(btScalar(SCALING*50.));
#else
setCameraDistance(btScalar(SCALING*20.));
#endif
m_cameraTargetPosition.setValue(START_POS_X, -START_POS_Y-20, START_POS_Z);
m_azi = btScalar(0.f);
m_ele = btScalar(0.f);
///collision configuration contains default setup for memory, collision setup
btDefaultCollisionConstructionInfo dci;
dci.m_defaultMaxPersistentManifoldPoolSize=100000;
dci.m_defaultMaxCollisionAlgorithmPoolSize=100000;
dci.m_customCollisionAlgorithmMaxElementSize = sizeof(SpuContactManifoldCollisionAlgorithm);
///SpuContactManifoldCollisionAlgorithm is larger than any of the other collision algorithms
//@@ dci.m_customMaxCollisionAlgorithmSize = sizeof(SpuContactManifoldCollisionAlgorithm);
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);
#ifndef WIN32
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
#else
unsigned int maxNumOutstandingTasks =4;
//createCollisionLocalStoreMemory();
//processSolverTask
Win32ThreadSupport::Win32ThreadConstructionInfo threadConstructionInfo("narrowphase_multi",processCollisionTask,createCollisionLocalStoreMemory,maxNumOutstandingTasks);
class btThreadSupportInterface* threadInterface = new Win32ThreadSupport(threadConstructionInfo);
m_dispatcher = new SpuGatheringCollisionDispatcher(threadInterface,maxNumOutstandingTasks,m_collisionConfiguration);
#endif //SINGLE_THREADED_NARROWPHASE
//## m_dispatcher->registerCollisionCreateFunc(BOX_SHAPE_PROXYTYPE,BOX_SHAPE_PROXYTYPE,new btEmptyAlgorithm::CreateFunc);
//## m_dispatcher->registerCollisionCreateFunc(CUSTOM_CONVEX_SHAPE_TYPE,CUSTOM_CONVEX_SHAPE_TYPE,new btBox2dBox2dCollisionAlgorithm::CreateFunc);
// m_broadphase = new btDbvtBroadphase();
//## gPairCache = new (btAlignedAlloc(sizeof(btCudaDemoPairCache),16)) btCudaDemoPairCache(MAX_PROXIES, 24, MAX_SMALL_PROXIES);
// gPairCache = NULL;
gPairCache = new (btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16)) btHashedOverlappingPairCache();
//m_broadphase = new btSimpleBroadphase(16384, gPairCache);
/*
btCudaBroadphase::btCudaBroadphase( btOverlappingPairCache* overlappingPairCache,
const btVector3& worldAabbMin,const btVector3& worldAabbMax,
int gridSizeX, int gridSizeY, int gridSizeZ,
int maxSmallProxies, int maxLargeProxies, int maxPairsPerBody,
int maxBodiesPerCell,
btScalar cellFactorAABB)
*/
// btVector3 numOfCells = (gWorldMax - gWorldMin) / (2. * SCALING * 0.7);
btVector3 numOfCells = (gWorldMax - gWorldMin) / (2. * SCALING);
int numOfCellsX = (int)numOfCells[0];
int numOfCellsY = (int)numOfCells[1];
int numOfCellsZ = (int)numOfCells[2];
// m_broadphase = new bt3DGridBroadphase(gPairCache, gWorldMin, gWorldMax,numOfCellsX, numOfCellsY, numOfCellsZ,MAX_SMALL_PROXIES,10,8,8,1./1.5);
//#define USE_CUDA_BROADPHASE 1
#ifdef USE_CUDA_BROADPHASE
m_broadphase = new btCudaBroadphase(gPairCache, gWorldMin, gWorldMax,numOfCellsX, numOfCellsY, numOfCellsZ,MAX_SMALL_PROXIES,20,18,8,1./1.5);
#else
#if DBVT
btDbvtBroadphase* dbvt = new btDbvtBroadphase(gPairCache);
m_broadphase = dbvt;
dbvt->m_deferedcollide=false;
dbvt->m_prediction = 0.f;
#else
m_broadphase = new btAxisSweep3(gWorldMin,gWorldMax,32000,gPairCache,true);//(btDbvtBroadphase(gPairCache);
#endif //DBVT
#endif
// create solvers for tests
///the default constraint solver
sConstraintSolvers[0] = new btSequentialImpulseConstraintSolver();
/*
sConstraintSolvers[1] = new btParallelBatchConstraintSolver();
sConstraintSolvers[2] = new btCudaConstraintSolver();
sConstraintSolvers[3] = new btParallelBatchConstraintSolver2();
sConstraintSolvers[4] = new btParallelBatchConstraintSolver3();
sConstraintSolvers[5] = new btCudaConstraintSolver3();
sConstraintSolvers[6] = new btParallelBatchConstraintSolver4();
sConstraintSolvers[7] = new btCudaConstraintSolver4();
sConstraintSolvers[8] = new btParallelBatchConstraintSolver5();
sConstraintSolvers[9] = new btParallelBatchConstraintSolver6();
sConstraintSolvers[10] = new btCudaConstraintSolver6();
*/
sCurrSolverIndex = 0;
m_solver = sConstraintSolvers[sCurrSolverIndex];
printf("\nUsing %s\n", sConstraintSolverNames[sCurrSolverIndex]);
// sCudaMotionInterface = new btCudaMotionInterface(MAX_PROXIES);
// m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration, sCudaMotionInterface);
// m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
//## btCudaDemoDynamicsWorld* pDdw = new btCudaDemoDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
btCudaDemoDynamicsWorld3D* pDdw = new btCudaDemoDynamicsWorld3D(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
m_dynamicsWorld = pDdw;
pDdw->getDispatchInfo().m_enableSPU=true;
pDdw->getSimulationIslandManager()->setSplitIslands(sCurrSolverIndex == 0);
pDdw->setObjRad(SCALING);
pDdw->setWorldMin(gWorldMin);
pDdw->setWorldMax(gWorldMax);
#ifdef BT_USE_CUDA
gUseCPUSolver = false;
#else
gUseCPUSolver = true;
#endif
pDdw->setUseCPUSolver(gUseCPUSolver);
// pDdw->setUseSolver2(gUseSolver2);
// m_dynamicsWorld->setGravity(btVector3(0,0,0));
m_dynamicsWorld->setGravity(btVector3(0.f,-10.f,0.f));
m_dynamicsWorld->getSolverInfo().m_numIterations = 4;
{
//create a few dynamic rigidbodies
// Re-using the same collision is better for memory usage and performance
//btCollisionShape* colShape = new btBoxShape(btVector3(SCALING*1,SCALING*1,0.1));//SCALING*1));
//## btCollisionShape* colShape = new btBox2dShape(btVector3(SCALING*.7,SCALING*.7,0.1));//SCALING*1));
btCollisionShape* colShape = new btBoxShape(btVector3(SCALING*.7,SCALING*.7, SCALING*.7));
//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
m_collisionShapes.push_back(colShape);
/// 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);
#if (!SPEC_TEST)
float start_x = START_POS_X - ARRAY_SIZE_X * SCALING;
float start_y = START_POS_Y - ARRAY_SIZE_Y * SCALING;
float start_z = START_POS_Z - ARRAY_SIZE_Z * SCALING;
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(SCALING*btVector3(
2.0*SCALING*i + start_x,
2.0*SCALING*k + start_y,
2.0*SCALING*j + start_z));
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
//btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,0,colShape,localInertia);
rbInfo.m_startWorldTransform=startTransform;
btRigidBody* body = new btRigidBody(rbInfo);
m_dynamicsWorld->addRigidBody(body);
}
}
}
#else
// narrowphase test - 2 bodies at the same position
float start_x = START_POS_X;
float start_y = START_POS_Y;
float start_z = START_POS_Z;
// startTransform.setOrigin(SCALING*btVector3(start_x,start_y-14.f,start_z));
startTransform.setOrigin(SCALING*btVector3(start_x,start_y-11.f,start_z));
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,0,colShape,localInertia);
rbInfo.m_startWorldTransform=startTransform;
btRigidBody* body = new btRigidBody(rbInfo);
m_dynamicsWorld->addRigidBody(body);
// startTransform.setOrigin(SCALING*btVector3(start_x+1.2f,start_y+1.4f-14.f,start_z));
startTransform.setOrigin(SCALING*btVector3(start_x,start_y + 1.5f -11.f, start_z));
rbInfo.m_startWorldTransform=startTransform;
body = new btRigidBody(rbInfo);
m_dynamicsWorld->addRigidBody(body);
#endif
}
#if 0
///create a few basic rigid bodies
// btCollisionShape* groundShape = new btBox2dShape(btVector3(btScalar(50.),btScalar(1.),btScalar(50.)));
// btCollisionShape* groundShape = new btBox2dShape(btVector3(btScalar(228.),btScalar(1.),btScalar(228.)));
// btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(228.),btScalar(1.),btScalar(228.)));
// btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
btCollisionShape* groundShape = new btBoxShape(btVector3(POS_OFFS_X, btScalar(1.), POS_OFFS_Z));
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0, gWorldMin[1], 0));
// groundTransform.setOrigin(btVector3(0,-5,0));
// groundTransform.setOrigin(btVector3(0,-50,0));
//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
{
btScalar mass(0.);
//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)
groundShape->calculateLocalInertia(mass,localInertia);
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
//add the body to the dynamics world
m_dynamicsWorld->addRigidBody(body);
}
#endif
//clientResetScene();
}