Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

add 'force activate', for static/kinematic objects that get moved.

Browse Source 
fixed some activation issues with kinematic objects
This commit is contained in:
ejcoumans
2006-11-21 13:00:18 +00:00
parent f4e8bf70c5
commit 0757f1fe9e
5 changed files with 31 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
View File

@@ -41,9 +41,9 @@ void btCollisionObject::forceActivationState(int newState)
m_activationState1 = newState;
}
void btCollisionObject::activate()
void btCollisionObject::activate(bool forceActivation)
{
if (!(m_collisionFlags & (CF_STATIC_OBJECT|CF_KINEMATIC_OBJECT)))
if (forceActivation || !(m_collisionFlags & (CF_STATIC_OBJECT|CF_KINEMATIC_OBJECT)))
{
setActivationState(ACTIVE_TAG);
m_deactivationTime = 0.f;

2
src/BulletCollision/CollisionDispatch/btCollisionObject.h
View File

@@ -148,7 +148,7 @@ public:
void forceActivationState(int newState);
void activate();
void activate(bool forceActivation = false);
inline bool isActive() const
{

12
src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
View File

@@ -176,7 +176,8 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
}
}
}
if (allSleeping)
{
int idx;
@@ -239,14 +240,15 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
if (((colObj0) && colObj0->getActivationState() != ISLAND_SLEEPING) ||
((colObj1) && colObj1->getActivationState() != ISLAND_SLEEPING))
{
//kinematic objects don't merge islands, but wake up all connected objects
if (colObj0->isKinematicObject() && colObj0->getActivationState() != ISLAND_SLEEPING)
if (colObj0->isStaticOrKinematicObject() && colObj0->getActivationState() != ISLAND_SLEEPING)
{
colObj1->setActivationState(ACTIVE_TAG);
colObj1->activate();
}
if (colObj1->isKinematicObject() && colObj1->getActivationState() != ISLAND_SLEEPING)
if (colObj1->isStaticOrKinematicObject() && colObj1->getActivationState() != ISLAND_SLEEPING)
{
colObj0->setActivationState(ACTIVE_TAG);
colObj0->activate();
}
//filtering for response

12
src/BulletCollision/CollisionShapes/btConeShape.cpp
View File

@@ -27,6 +27,18 @@ m_height(height)
m_sinAngle = (m_radius / sqrt(m_radius * m_radius + m_height * m_height));
}
btConeShapeZ::btConeShapeZ (btScalar radius,btScalar height):
btConeShape(radius,height)
{
setConeUpIndex(2);
}
btConeShapeX::btConeShapeX (btScalar radius,btScalar height):
btConeShape(radius,height)
{
setConeUpIndex(0);
}
///choose upAxis index
void btConeShape::setConeUpIndex(int upIndex)
{

11
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
View File

@@ -368,8 +368,14 @@ void btDiscreteDynamicsWorld::updateActivationState(float timeStep)
if (body->wantsSleeping())
{
if (body->getActivationState() == ACTIVE_TAG)
body->setActivationState( WANTS_DEACTIVATION );
if (body->isStaticOrKinematicObject())
{
body->setActivationState(ISLAND_SLEEPING);
} else
{
if (body->getActivationState() == ACTIVE_TAG)
body->setActivationState( WANTS_DEACTIVATION );
}
} else
{
if (body->getActivationState() != DISABLE_DEACTIVATION)
@@ -834,6 +840,7 @@ void btDiscreteDynamicsWorld::debugDrawObject(const btTransform& worldTransform,
}
}
void btDiscreteDynamicsWorld::setConstraintSolver(btConstraintSolver* solver)
{
if (m_ownsConstraintSolver)