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updated testbed demo

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This commit is contained in:
Erwin Coumans 2005-07-30 18:58:21 +00:00
parent 6eeaacde0a
commit 697b22cc41
4 changed files with 34 additions and 12 deletions
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4
extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp vendored
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@ -31,7 +31,7 @@ CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci)
MassProps mp(ci.m_mass, ci.m_localInertiaTensor); MassProps mp(ci.m_mass, ci.m_localInertiaTensor);
m_body = new RigidBody(mp,0,0); m_body = new RigidBody(mp,0,0,ci.m_friction,ci.m_restitution);
m_broadphaseHandle = ci.m_broadphaseHandle; m_broadphaseHandle = ci.m_broadphaseHandle;
@ -44,8 +44,6 @@ CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci)
m_body->setMassProps(ci.m_mass, ci.m_localInertiaTensor); m_body->setMassProps(ci.m_mass, ci.m_localInertiaTensor);
m_body->setGravity( ci.m_gravity); m_body->setGravity( ci.m_gravity);
m_friction = ci.m_friction;
m_restitution = ci.m_restitution;
m_body->setDamping(ci.m_linearDamping, ci.m_angularDamping); m_body->setDamping(ci.m_linearDamping, ci.m_angularDamping);

6
extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.h vendored
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@ -15,7 +15,6 @@ struct CcdConstructionInfo
CcdConstructionInfo() CcdConstructionInfo()
: m_gravity(0,0,0), : m_gravity(0,0,0),
m_mass(0.f), m_mass(0.f),
m_friction(0.1f),
m_restitution(0.1f), m_restitution(0.1f),
m_linearDamping(0.1f), m_linearDamping(0.1f),
m_angularDamping(0.1f), m_angularDamping(0.1f),
@ -27,9 +26,8 @@ struct CcdConstructionInfo
SimdVector3 m_localInertiaTensor; SimdVector3 m_localInertiaTensor;
SimdVector3 m_gravity; SimdVector3 m_gravity;
SimdScalar m_mass; SimdScalar m_mass;
SimdScalar m_friction;
SimdScalar m_restitution; SimdScalar m_restitution;
SimdScalar m_friction;
SimdScalar m_linearDamping; SimdScalar m_linearDamping;
SimdScalar m_angularDamping; SimdScalar m_angularDamping;
void* m_broadphaseHandle; void* m_broadphaseHandle;
@ -54,8 +52,6 @@ class CcdPhysicsController : public PHY_IPhysicsController
int m_collisionDelay; int m_collisionDelay;
SimdScalar m_friction;
SimdScalar m_restitution;
void* m_broadphaseHandle; void* m_broadphaseHandle;
CcdPhysicsController (const CcdConstructionInfo& ci); CcdPhysicsController (const CcdConstructionInfo& ci);

28
extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp vendored
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@ -33,7 +33,7 @@ bool useIslands = true;
//#include "BroadphaseCollision/QueryBox.h" //#include "BroadphaseCollision/QueryBox.h"
//todo: change this to allow dynamic registration of types! //todo: change this to allow dynamic registration of types!
unsigned long gNumIterations = 1; unsigned long gNumIterations = 10;
#ifdef WIN32 #ifdef WIN32
void DrawRasterizerLine(const float* from,const float* to,int color); void DrawRasterizerLine(const float* from,const float* to,int color);
@ -366,6 +366,7 @@ bool CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
//contacts //contacts
m_dispatcher->SolveConstraints(timeStep, gNumIterations ,numRigidBodies,m_debugDrawer); m_dispatcher->SolveConstraints(timeStep, gNumIterations ,numRigidBodies,m_debugDrawer);
for (int g=0;g<numsubstep;g++) for (int g=0;g<numsubstep;g++)
@ -438,7 +439,7 @@ bool CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
#ifdef WIN32 #ifdef WIN32
SimdVector3 color (1,0,0); SimdVector3 color (1,0,0);
if (0)//m_debugDrawer) if (m_debugDrawer)
{ {
//draw aabb //draw aabb
@ -540,6 +541,29 @@ bool CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
return true; return true;
} }
void CcdPhysicsEnvironment::setDebugMode(int debugMode)
{
if (debugMode > 10)
{
if (m_dispatcher)
delete m_dispatcher;
if (debugMode == 11)
{
SimpleConstraintSolver* solver= new SimpleConstraintSolver();
m_dispatcher = new ToiContactDispatcher(solver);
} else
{
OdeConstraintSolver* solver = new OdeConstraintSolver();
m_dispatcher = new ToiContactDispatcher(solver);
}
}
if (m_debugDrawer){
m_debugDrawer->SetDebugMode(debugMode);
}
}
void CcdPhysicsEnvironment::SyncMotionStates(float timeStep) void CcdPhysicsEnvironment::SyncMotionStates(float timeStep)
{ {
std::vector<CcdPhysicsController*>::iterator i; std::vector<CcdPhysicsController*>::iterator i;

4
extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.h vendored
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@ -50,8 +50,11 @@ class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
virtual bool proceedDeltaTime(double curTime,float timeStep); virtual bool proceedDeltaTime(double curTime,float timeStep);
virtual void setFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep){}; virtual void setFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep){};
//returns 0.f if no fixed timestep is used //returns 0.f if no fixed timestep is used
virtual float getFixedTimeStep(){ return 0.f;}; virtual float getFixedTimeStep(){ return 0.f;};
virtual void setDebugMode(int debugMode);
virtual void setGravity(float x,float y,float z); virtual void setGravity(float x,float y,float z);
virtual int createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type, virtual int createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type,
@ -113,6 +116,7 @@ class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
bool m_scalingPropagated; bool m_scalingPropagated;
}; };
#endif //CCDPHYSICSENVIRONMENT #endif //CCDPHYSICSENVIRONMENT