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added physics-debugging

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didn't check every single file, so might have broken some gameengine stuff, will fix it this weekend!
This commit is contained in:
Erwin Coumans
2005-07-29 18:14:41 +00:00
parent 7d797797c8
commit dad6ef9045
32 changed files with 341 additions and 166 deletions
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50
source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
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@@ -14,6 +14,7 @@
#include "ConstraintSolver/OdeConstraintSolver.h"
#include "ConstraintSolver/SimpleConstraintSolver.h"
#include "IDebugDraw.h"
#include "CollisionDispatch/ToiContactDispatcher.h"
@@ -32,7 +33,7 @@ bool useIslands = true;
//#include "BroadphaseCollision/QueryBox.h"
//todo: change this to allow dynamic registration of types!
unsigned long gNumIterations = 10;
unsigned long gNumIterations = 20;
#ifdef WIN32
void DrawRasterizerLine(const float* from,const float* to,int color);
@@ -48,7 +49,7 @@ void DrawRasterizerLine(const float* from,const float* to,int color);
static void DrawAabb(PHY_IPhysicsDebugDraw* debugDrawer,const SimdVector3& from,const SimdVector3& to,const SimdVector3& color)
static void DrawAabb(IDebugDraw* debugDrawer,const SimdVector3& from,const SimdVector3& to,const SimdVector3& color)
{
SimdVector3 halfExtents = (to-from)* 0.5f;
SimdVector3 center = (to+from) *0.5f;
@@ -313,10 +314,6 @@ bool CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
//m_scalingPropagated = true;
}
#ifdef EXTRA_PHYSICS_PROFILE
cpuProfile.begin("integrate force");
#endif //EXTRA_PHYSICS_PROFILE
{
@@ -338,9 +335,6 @@ bool CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
}
}
#ifdef EXTRA_PHYSICS_PROFILE
cpuProfile.end("integrate force");
#endif //EXTRA_PHYSICS_PROFILE
BroadphaseInterface* scene = m_broadphase;
@@ -358,33 +352,22 @@ bool CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
DispatcherInfo dispatchInfo;
dispatchInfo.m_timeStep = timeStep;
dispatchInfo.m_stepCount = 0;
#ifdef EXTRA_PHYSICS_PROFILE
cpuProfile.begin("cd");
#endif //EXTRA_PHYSICS_PROFILE
scene->DispatchAllCollisionPairs(*m_dispatcher,dispatchInfo);///numsubstep,g);
#ifdef EXTRA_PHYSICS_PROFILE
cpuProfile.end("cd");
#endif //EXTRA_PHYSICS_PROFILE
#ifdef EXTRA_PHYSICS_PROFILE
cpuProfile.begin("solver");
#endif //EXTRA_PHYSICS_PROFILE
int numRigidBodies = m_controllers.size();
UpdateActivationState();
//contacts
m_dispatcher->SolveConstraints(timeStep, gNumIterations ,numRigidBodies);
#ifdef EXTRA_PHYSICS_PROFILE
cpuProfile.end("solver");
#endif //EXTRA_PHYSICS_PROFILE
m_dispatcher->SolveConstraints(timeStep, gNumIterations ,numRigidBodies,m_debugDrawer);
for (int g=0;g<numsubstep;g++)
{
@@ -558,6 +541,29 @@ bool CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
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)
{
std::vector<CcdPhysicsController*>::iterator i;