- Added btRigidBodyConstructionInfo, to make it easier to set individual setting (and leave other untouched) during rigid body construction.
This was harder using default arguments. Thanks Vangelis Kokkevis for pointing this out. - Fixed memoryleak in the ConstraintDemo and Raytracer demo. - fixed issue with clearing forces/gravity at the end of the stepSimulation, instead of during internalSingleStepSimulation. Thanks chunky for pointing this out: http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1780 - Disabled additional damping in rigid body by default, but enable it in most demos. Set btRigidBodyConstructionInfo m_additionalDamping to true to enable this. - Removed obsolete QUICKPROF BEGIN/END_PROFILE, and enabled BT_PROFILE. Profiling is enabled by default (see Bullet/Demos/OpenGL/DemoApplication.cpp how to use this). User can switch off profiling by enabling define BT_NO_PROFILE in Bullet/src/btQuickprof.h.
This commit is contained in:
ejcoumans
@@ -36,9 +36,6 @@ subject to the following restrictions:
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#include "LinearMath/btAlignedObjectArray.h"
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#ifdef USE_PROFILE
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#include "LinearMath/btQuickprof.h"
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#endif //USE_PROFILE
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int totalCpd = 0;
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@@ -434,7 +431,7 @@ void btSequentialImpulseConstraintSolver::addFrictionConstraint(const btVector3&
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btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
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{
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PROFILE("solveGroupCacheFriendlySetup");
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BT_PROFILE("solveGroupCacheFriendlySetup");
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(void)stackAlloc;
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(void)debugDrawer;
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@@ -473,7 +470,6 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
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btVector3 color(0,1,0);
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BEGIN_PROFILE("gatherSolverData");
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//int sizeofSB = sizeof(btSolverBody);
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//int sizeofSC = sizeof(btSolverConstraint);
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@@ -706,10 +702,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
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}
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}
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}
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END_PROFILE("gatherSolverData");
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BEGIN_PROFILE("prepareConstraints");
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btContactSolverInfo info = infoGlobal;
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{
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@@ -743,16 +736,13 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
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END_PROFILE("prepareConstraints");
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return 0.f;
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}
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btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
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{
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PROFILE("solveGroupCacheFriendlyIterations");
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BEGIN_PROFILE("solveConstraintsIterations");
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BT_PROFILE("solveGroupCacheFriendlyIterations");
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int numConstraintPool = m_tmpSolverConstraintPool.size();
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int numFrictionPool = m_tmpSolverFrictionConstraintPool.size();
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@@ -784,7 +774,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(
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for (j=0;j<numConstraints;j++)
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{
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PROFILE("solveConstraint");
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BT_PROFILE("solveConstraint");
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btTypedConstraint* constraint = constraints[j];
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///todo: use solver bodies, so we don't need to copy from/to btRigidBody
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@@ -811,7 +801,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(
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}
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{
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PROFILE("resolveSingleCollisionCombinedCacheFriendly");
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BT_PROFILE("resolveSingleCollisionCombinedCacheFriendly");
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int numPoolConstraints = m_tmpSolverConstraintPool.size();
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for (j=0;j<numPoolConstraints;j++)
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{
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@@ -823,7 +813,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(
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}
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{
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PROFILE("resolveSingleFrictionCacheFriendly");
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BT_PROFILE("resolveSingleFrictionCacheFriendly");
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int numFrictionPoolConstraints = m_tmpSolverFrictionConstraintPool.size();
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for (j=0;j<numFrictionPoolConstraints;j++)
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@@ -842,8 +832,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(
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}
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}
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END_PROFILE("solveConstraintsIterations");
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return 0.f;
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}
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@@ -855,14 +844,12 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendly(btCollisio
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solveGroupCacheFriendlySetup( bodies, numBodies, manifoldPtr, numManifolds,constraints, numConstraints,infoGlobal,debugDrawer, stackAlloc);
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solveGroupCacheFriendlyIterations(bodies, numBodies, manifoldPtr, numManifolds,constraints, numConstraints,infoGlobal,debugDrawer, stackAlloc);
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BEGIN_PROFILE("solveWriteBackVelocity");
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for ( i=0;i<m_tmpSolverBodyPool.size();i++)
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{
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m_tmpSolverBodyPool[i].writebackVelocity();
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}
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END_PROFILE("solveWriteBackVelocity");
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// printf("m_tmpSolverConstraintPool.size() = %i\n",m_tmpSolverConstraintPool.size());
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@@ -888,7 +875,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendly(btCollisio
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/// btSequentialImpulseConstraintSolver Sequentially applies impulses
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btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc,btDispatcher* dispatcher)
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{
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PROFILE("solveGroup");
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BT_PROFILE("solveGroup");
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if (getSolverMode() & SOLVER_CACHE_FRIENDLY)
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{
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//you need to provide at least some bodies
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@@ -898,16 +885,11 @@ btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bod
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return solveGroupCacheFriendly(bodies,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer,stackAlloc);
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}
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BEGIN_PROFILE("prepareConstraints");
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btContactSolverInfo info = infoGlobal;
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int numiter = infoGlobal.m_numIterations;
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#ifdef USE_PROFILE
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btProfiler::beginBlock("solve");
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#endif //USE_PROFILE
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int totalPoints = 0;
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@@ -937,10 +919,6 @@ btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bod
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}
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}
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END_PROFILE("prepareConstraints");
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BEGIN_PROFILE("solveConstraints");
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//should traverse the contacts random order...
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int iteration;
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@@ -985,13 +963,6 @@ btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bod
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}
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}
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END_PROFILE("solveConstraints");
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#ifdef USE_PROFILE
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btProfiler::endBlock("solve");
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#endif //USE_PROFILE
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@@ -127,7 +127,8 @@ plRigidBodyHandle plCreateRigidBody( void* user_data, float mass, plCollisionSh
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shape->calculateLocalInertia(mass,localInertia);
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}
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void* mem = btAlignedAlloc(sizeof(btRigidBody),16);
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btRigidBody* body = new (mem)btRigidBody(mass, 0,shape,localInertia);
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btRigidBody::btRigidBodyConstructionInfo rbci(mass, 0,shape,localInertia);
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btRigidBody* body = new (mem)btRigidBody(rbci);
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body->setWorldTransform(trans);
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body->setUserPointer(user_data);
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return (plRigidBodyHandle) body;
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@@ -116,14 +116,11 @@ void btContinuousDynamicsWorld::calculateTimeOfImpacts(btScalar timeStep)
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///calculate time of impact for overlapping pairs
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BEGIN_PROFILE("performContinuousCollisionDetection");
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btDispatcher* dispatcher = getDispatcher();
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if (dispatcher)
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dispatcher->dispatchAllCollisionPairs(m_broadphasePairCache->getOverlappingPairCache(),dispatchInfo,m_dispatcher1);
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END_PROFILE("performContinuousCollisionDetection");
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toi = dispatchInfo.m_timeOfImpact;
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dispatchInfo.m_dispatchFunc = btDispatcherInfo::DISPATCH_DISCRETE;
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@@ -132,7 +129,6 @@ void btContinuousDynamicsWorld::calculateTimeOfImpacts(btScalar timeStep)
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void btContinuousDynamicsWorld::updateTemporalAabbs(btScalar timeStep)
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{
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BEGIN_PROFILE("perform Temporal Broadphase Collision Detection");
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btVector3 temporalAabbMin,temporalAabbMax;
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@@ -187,7 +183,6 @@ void btContinuousDynamicsWorld::updateTemporalAabbs(btScalar timeStep)
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m_broadphasePairCache->calculateOverlappingPairs(m_dispatcher1);
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END_PROFILE("perform Temporal Broadphase Collision Detection");
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}
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@@ -211,6 +211,24 @@ void btDiscreteDynamicsWorld::clearForces()
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}
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}
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///apply gravity, call this once per timestep
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void btDiscreteDynamicsWorld::applyGravity()
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{
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//todo: iterate over awake simulation islands!
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for ( int i=0;i<m_collisionObjects.size();i++)
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{
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btCollisionObject* colObj = m_collisionObjects[i];
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btRigidBody* body = btRigidBody::upcast(colObj);
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if (body && body->isActive())
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{
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body->applyGravity();
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}
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}
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}
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void btDiscreteDynamicsWorld::synchronizeMotionStates()
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{
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{
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@@ -255,7 +273,7 @@ int btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps,
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{
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startProfiling(timeStep);
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PROFILE("stepSimulation");
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BT_PROFILE("stepSimulation");
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int numSimulationSubSteps = 0;
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@@ -294,6 +312,8 @@ int btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps,
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saveKinematicState(fixedTimeStep);
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applyGravity();
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//clamp the number of substeps, to prevent simulation grinding spiralling down to a halt
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int clampedSimulationSteps = (numSimulationSubSteps > maxSubSteps)? maxSubSteps : numSimulationSubSteps;
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@@ -317,7 +337,7 @@ int btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps,
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void btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
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{
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PROFILE("internalSingleStepSimulation");
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BT_PROFILE("internalSingleStepSimulation");
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///apply gravity, predict motion
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predictUnconstraintMotion(timeStep);
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@@ -407,21 +427,18 @@ void btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body, short group, short
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void btDiscreteDynamicsWorld::updateVehicles(btScalar timeStep)
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{
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PROFILE("updateVehicles");
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BEGIN_PROFILE("updateVehicles");
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BT_PROFILE("updateVehicles");
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for ( int i=0;i<m_vehicles.size();i++)
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{
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btRaycastVehicle* vehicle = m_vehicles[i];
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vehicle->updateVehicle( timeStep);
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}
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END_PROFILE("updateVehicles");
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}
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void btDiscreteDynamicsWorld::updateActivationState(btScalar timeStep)
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{
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PROFILE("updateActivationState");
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BEGIN_PROFILE("updateActivationState");
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BT_PROFILE("updateActivationState");
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for ( int i=0;i<m_collisionObjects.size();i++)
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{
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@@ -448,7 +465,6 @@ void btDiscreteDynamicsWorld::updateActivationState(btScalar timeStep)
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}
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}
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}
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END_PROFILE("updateActivationState");
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}
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void btDiscreteDynamicsWorld::addConstraint(btTypedConstraint* constraint,bool disableCollisionsBetweenLinkedBodies)
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@@ -508,7 +524,7 @@ class btSortConstraintOnIslandPredicate
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void btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
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{
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PROFILE("solveConstraints");
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BT_PROFILE("solveConstraints");
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struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCallback
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{
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@@ -616,8 +632,7 @@ void btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
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void btDiscreteDynamicsWorld::calculateSimulationIslands()
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{
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PROFILE("calculateSimulationIslands");
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BEGIN_PROFILE("calculateSimulationIslands");
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BT_PROFILE("calculateSimulationIslands");
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getSimulationIslandManager()->updateActivationState(getCollisionWorld(),getCollisionWorld()->getDispatcher());
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@@ -647,16 +662,14 @@ void btDiscreteDynamicsWorld::calculateSimulationIslands()
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//Store the island id in each body
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getSimulationIslandManager()->storeIslandActivationState(getCollisionWorld());
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END_PROFILE("calculateSimulationIslands");
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}
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void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
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{
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PROFILE("integrateTransforms");
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BEGIN_PROFILE("integrateTransforms");
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BT_PROFILE("integrateTransforms");
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btTransform predictedTrans;
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for ( int i=0;i<m_collisionObjects.size();i++)
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{
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@@ -671,15 +684,13 @@ void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
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}
|
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}
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}
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END_PROFILE("integrateTransforms");
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}
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|
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void btDiscreteDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
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{
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PROFILE("predictUnconstraintMotion");
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BEGIN_PROFILE("predictUnconstraintMotion");
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BT_PROFILE("predictUnconstraintMotion");
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for ( int i=0;i<m_collisionObjects.size();i++)
|
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{
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btCollisionObject* colObj = m_collisionObjects[i];
|
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@@ -690,14 +701,15 @@ void btDiscreteDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
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{
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if (body->isActive())
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{
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body->applyForces( timeStep);
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body->integrateVelocities( timeStep);
|
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//damping
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body->applyDamping(timeStep);
|
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|
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body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform());
|
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}
|
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}
|
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}
|
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}
|
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END_PROFILE("predictUnconstraintMotion");
|
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}
|
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|
||||
|
||||
|
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@@ -59,7 +59,7 @@ protected:
|
||||
|
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int m_profileTimings;
|
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|
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void predictUnconstraintMotion(btScalar timeStep);
|
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virtual void predictUnconstraintMotion(btScalar timeStep);
|
||||
|
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void integrateTransforms(btScalar timeStep);
|
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|
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@@ -148,10 +148,13 @@ public:
|
||||
{
|
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return BT_DISCRETE_DYNAMICS_WORLD;
|
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}
|
||||
|
||||
|
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///the forces on each rigidbody is accumulating together with gravity. clear this after each timestep.
|
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virtual void clearForces();
|
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|
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///apply gravity, call this once per timestep
|
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virtual void applyGravity();
|
||||
|
||||
|
||||
};
|
||||
|
||||
|
||||
@@ -20,38 +20,51 @@ subject to the following restrictions:
|
||||
#include "LinearMath/btMotionState.h"
|
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#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
|
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|
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btScalar gLinearAirDamping = btScalar(1.);
|
||||
//'temporarily' global variables
|
||||
btScalar gDeactivationTime = btScalar(2.);
|
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bool gDisableDeactivation = false;
|
||||
|
||||
btScalar gLinearSleepingThreshold = btScalar(0.8);
|
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btScalar gAngularSleepingThreshold = btScalar(1.0);
|
||||
static int uniqueId = 0;
|
||||
|
||||
btRigidBody::btRigidBody(btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia,btScalar linearDamping,btScalar angularDamping,btScalar friction,btScalar restitution)
|
||||
:
|
||||
m_linearVelocity(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
|
||||
m_angularVelocity(btScalar(0.),btScalar(0.),btScalar(0.)),
|
||||
m_angularFactor(btScalar(1.)),
|
||||
m_gravity(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
|
||||
m_totalForce(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
|
||||
m_totalTorque(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
|
||||
m_linearDamping(btScalar(0.)),
|
||||
m_angularDamping(btScalar(0.5)),
|
||||
m_linearSleepingThreshold(gLinearSleepingThreshold),
|
||||
m_angularSleepingThreshold(gAngularSleepingThreshold),
|
||||
m_optionalMotionState(motionState),
|
||||
m_contactSolverType(0),
|
||||
m_frictionSolverType(0)
|
||||
|
||||
btRigidBody::btRigidBody(const btRigidBody::btRigidBodyConstructionInfo& constructionInfo)
|
||||
{
|
||||
setupRigidBody(constructionInfo);
|
||||
}
|
||||
|
||||
btRigidBody::btRigidBody(btScalar mass, btMotionState *motionState, btCollisionShape *collisionShape, const btVector3 &localInertia)
|
||||
{
|
||||
btRigidBodyConstructionInfo cinfo(mass,motionState,collisionShape,localInertia);
|
||||
setupRigidBody(cinfo);
|
||||
}
|
||||
|
||||
void btRigidBody::setupRigidBody(const btRigidBody::btRigidBodyConstructionInfo& constructionInfo)
|
||||
{
|
||||
|
||||
if (motionState)
|
||||
m_linearVelocity.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
|
||||
m_angularVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
|
||||
m_angularFactor = btScalar(1.);
|
||||
m_gravity.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
|
||||
m_totalForce.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
|
||||
m_totalTorque.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
|
||||
m_linearDamping = btScalar(0.);
|
||||
m_angularDamping = btScalar(0.5);
|
||||
m_linearSleepingThreshold = constructionInfo.m_linearSleepingThreshold;
|
||||
m_angularSleepingThreshold = constructionInfo.m_angularSleepingThreshold;
|
||||
m_optionalMotionState = constructionInfo.m_motionState;
|
||||
m_contactSolverType = 0;
|
||||
m_frictionSolverType = 0;
|
||||
m_additionalDamping = constructionInfo.m_additionalDamping;
|
||||
|
||||
m_additionalLinearDampingThresholdSqr = constructionInfo.m_additionalLinearDampingThresholdSqr;
|
||||
m_additionalAngularDampingThresholdSqr = constructionInfo.m_additionalAngularDampingThresholdSqr;
|
||||
m_additionalAngularDampingFactor = constructionInfo.m_additionalAngularDampingFactor;
|
||||
|
||||
if (m_optionalMotionState)
|
||||
{
|
||||
motionState->getWorldTransform(m_worldTransform);
|
||||
m_optionalMotionState->getWorldTransform(m_worldTransform);
|
||||
} else
|
||||
{
|
||||
m_worldTransform = btTransform::getIdentity();
|
||||
m_worldTransform = constructionInfo.m_startWorldTransform;
|
||||
}
|
||||
|
||||
m_interpolationWorldTransform = m_worldTransform;
|
||||
@@ -59,93 +72,24 @@ btRigidBody::btRigidBody(btScalar mass, btMotionState* motionState, btCollisionS
|
||||
m_interpolationAngularVelocity.setValue(0,0,0);
|
||||
|
||||
//moved to btCollisionObject
|
||||
m_friction = friction;
|
||||
m_restitution = restitution;
|
||||
m_friction = constructionInfo.m_friction;
|
||||
m_restitution = constructionInfo.m_restitution;
|
||||
|
||||
m_collisionShape = collisionShape;
|
||||
m_collisionShape = constructionInfo.m_collisionShape;
|
||||
m_debugBodyId = uniqueId++;
|
||||
|
||||
//m_internalOwner is to allow upcasting from collision object to rigid body
|
||||
m_internalOwner = this;
|
||||
|
||||
setMassProps(mass, localInertia);
|
||||
setDamping(linearDamping, angularDamping);
|
||||
setMassProps(constructionInfo.m_mass, constructionInfo.m_localInertia);
|
||||
setDamping(constructionInfo.m_linearDamping, constructionInfo.m_angularDamping);
|
||||
updateInertiaTensor();
|
||||
|
||||
}
|
||||
|
||||
#ifdef OBSOLETE_MOTIONSTATE_LESS
|
||||
btRigidBody::btRigidBody( btScalar mass,const btTransform& worldTransform,btCollisionShape* collisionShape,const btVector3& localInertia,btScalar linearDamping,btScalar angularDamping,btScalar friction,btScalar restitution)
|
||||
:
|
||||
m_gravity(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
|
||||
m_totalForce(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
|
||||
m_totalTorque(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
|
||||
m_linearVelocity(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
|
||||
m_angularVelocity(btScalar(0.),btScalar(0.),btScalar(0.)),
|
||||
m_linearSleepingThreshold(gLinearSleepingThreshold),
|
||||
m_angularSleepingThreshold(gAngularSleepingThreshold),
|
||||
m_linearDamping(btScalar(0.)),
|
||||
m_angularDamping(btScalar(0.5)),
|
||||
m_optionalMotionState(0),
|
||||
m_contactSolverType(0),
|
||||
m_frictionSolverType(0)
|
||||
|
||||
{
|
||||
|
||||
m_worldTransform = worldTransform;
|
||||
m_interpolationWorldTransform = m_worldTransform;
|
||||
m_interpolationLinearVelocity.setValue(0,0,0);
|
||||
m_interpolationAngularVelocity.setValue(0,0,0);
|
||||
|
||||
//moved to btCollisionObject
|
||||
m_friction = friction;
|
||||
m_restitution = restitution;
|
||||
|
||||
m_collisionShape = collisionShape;
|
||||
m_debugBodyId = uniqueId++;
|
||||
|
||||
//m_internalOwner is to allow upcasting from collision object to rigid body
|
||||
m_internalOwner = this;
|
||||
|
||||
setMassProps(mass, localInertia);
|
||||
setDamping(linearDamping, angularDamping);
|
||||
updateInertiaTensor();
|
||||
|
||||
}
|
||||
|
||||
#endif //OBSOLETE_MOTIONSTATE_LESS
|
||||
|
||||
|
||||
|
||||
|
||||
#define EXPERIMENTAL_JITTER_REMOVAL 1
|
||||
#ifdef EXPERIMENTAL_JITTER_REMOVAL
|
||||
//Bullet 2.20b has experimental damping code to reduce jitter just before objects fall asleep/deactivate
|
||||
//doesn't work very well yet (value 0 disabled this damping)
|
||||
//note there this influences deactivation thresholds!
|
||||
btScalar gClippedAngvelThresholdSqr = btScalar(0.01);
|
||||
btScalar gClippedLinearThresholdSqr = btScalar(0.01);
|
||||
#endif //EXPERIMENTAL_JITTER_REMOVAL
|
||||
|
||||
btScalar gJitterVelocityDampingFactor = btScalar(0.7);
|
||||
|
||||
void btRigidBody::predictIntegratedTransform(btScalar timeStep,btTransform& predictedTransform)
|
||||
{
|
||||
|
||||
#ifdef EXPERIMENTAL_JITTER_REMOVAL
|
||||
//if (wantsSleeping())
|
||||
{
|
||||
//clip to avoid jitter
|
||||
if ((m_angularVelocity.length2() < gClippedAngvelThresholdSqr) &&
|
||||
(m_linearVelocity.length2() < gClippedLinearThresholdSqr))
|
||||
{
|
||||
m_angularVelocity *= gJitterVelocityDampingFactor;
|
||||
m_linearVelocity *= gJitterVelocityDampingFactor;
|
||||
}
|
||||
}
|
||||
|
||||
#endif //EXPERIMENTAL_JITTER_REMOVAL
|
||||
|
||||
btTransformUtil::integrateTransform(m_worldTransform,m_linearVelocity,m_angularVelocity,timeStep,predictedTransform);
|
||||
}
|
||||
|
||||
@@ -196,50 +140,63 @@ void btRigidBody::setDamping(btScalar lin_damping, btScalar ang_damping)
|
||||
|
||||
|
||||
|
||||
#include <stdio.h>
|
||||
|
||||
///applyDamping damps the velocity, using the given m_linearDamping and m_angularDamping
|
||||
void btRigidBody::applyDamping(btScalar timeStep)
|
||||
{
|
||||
m_linearVelocity *= GEN_clamped((btScalar(1.) - timeStep * m_linearDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
|
||||
m_angularVelocity *= GEN_clamped((btScalar(1.) - timeStep * m_angularDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
|
||||
|
||||
if (m_additionalDamping)
|
||||
{
|
||||
//Additional damping can help avoiding lowpass jitter motion, help stability for ragdolls etc.
|
||||
//Such damping is undesirable, so once the overall simulation quality of the rigid body dynamics system has improved, this should become obsolete
|
||||
if ((m_angularVelocity.length2() < m_additionalAngularDampingThresholdSqr) &&
|
||||
(m_linearVelocity.length2() < m_additionalLinearDampingThresholdSqr))
|
||||
{
|
||||
m_angularVelocity *= m_additionalDampingFactor;
|
||||
m_linearVelocity *= m_additionalDampingFactor;
|
||||
}
|
||||
|
||||
|
||||
btScalar speed = m_linearVelocity.length();
|
||||
if (speed < m_linearDamping)
|
||||
{
|
||||
btScalar dampVel = btScalar(0.005);
|
||||
if (speed > dampVel)
|
||||
{
|
||||
btVector3 dir = m_linearVelocity.normalized();
|
||||
m_linearVelocity -= dir * dampVel;
|
||||
} else
|
||||
{
|
||||
m_linearVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
|
||||
}
|
||||
}
|
||||
|
||||
btScalar angSpeed = m_angularVelocity.length();
|
||||
if (angSpeed < m_angularDamping)
|
||||
{
|
||||
btScalar angDampVel = btScalar(0.005);
|
||||
if (angSpeed > angDampVel)
|
||||
{
|
||||
btVector3 dir = m_angularVelocity.normalized();
|
||||
m_angularVelocity -= dir * angDampVel;
|
||||
} else
|
||||
{
|
||||
m_angularVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void btRigidBody::applyForces(btScalar step)
|
||||
void btRigidBody::applyGravity()
|
||||
{
|
||||
if (isStaticOrKinematicObject())
|
||||
return;
|
||||
|
||||
applyCentralForce(m_gravity);
|
||||
|
||||
m_linearVelocity *= GEN_clamped((btScalar(1.) - step * gLinearAirDamping * m_linearDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
|
||||
m_angularVelocity *= GEN_clamped((btScalar(1.) - step * m_angularDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
|
||||
|
||||
#define FORCE_VELOCITY_DAMPING 1
|
||||
#ifdef FORCE_VELOCITY_DAMPING
|
||||
btScalar speed = m_linearVelocity.length();
|
||||
if (speed < m_linearDamping)
|
||||
{
|
||||
btScalar dampVel = btScalar(0.005);
|
||||
if (speed > dampVel)
|
||||
{
|
||||
btVector3 dir = m_linearVelocity.normalized();
|
||||
m_linearVelocity -= dir * dampVel;
|
||||
} else
|
||||
{
|
||||
m_linearVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
|
||||
}
|
||||
}
|
||||
|
||||
btScalar angSpeed = m_angularVelocity.length();
|
||||
if (angSpeed < m_angularDamping)
|
||||
{
|
||||
btScalar angDampVel = btScalar(0.005);
|
||||
if (angSpeed > angDampVel)
|
||||
{
|
||||
btVector3 dir = m_angularVelocity.normalized();
|
||||
m_angularVelocity -= dir * angDampVel;
|
||||
} else
|
||||
{
|
||||
m_angularVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
|
||||
}
|
||||
}
|
||||
#endif //FORCE_VELOCITY_DAMPING
|
||||
|
||||
}
|
||||
|
||||
void btRigidBody::proceedToTransform(const btTransform& newTrans)
|
||||
|
||||
@@ -27,16 +27,18 @@ class btMotionState;
|
||||
class btTypedConstraint;
|
||||
|
||||
|
||||
extern btScalar gLinearAirDamping;
|
||||
|
||||
extern btScalar gDeactivationTime;
|
||||
extern bool gDisableDeactivation;
|
||||
extern btScalar gLinearSleepingThreshold;
|
||||
extern btScalar gAngularSleepingThreshold;
|
||||
|
||||
|
||||
/// btRigidBody class for btRigidBody Dynamics
|
||||
///
|
||||
///btRigidBody is the main class for rigid body objects. It is derived from btCollisionObject, so it keeps a pointer to a btCollisionShape.
|
||||
///It is recommended for performance and memory use to share btCollisionShape objects whenever possible.
|
||||
///There are 3 types of rigid bodies:
|
||||
///- A) Dynamic rigid bodies, with positive mass. Motion is controlled by rigid body dynamics.
|
||||
///- B) Fixed objects with zero mass. They are not moving (basically collision objects)
|
||||
///- C) Kinematic objects, which are objects without mass, but the user can move them. There is on-way interaction, and Bullet calculates a velocity based on the timestep and previous and current world transform.
|
||||
///Bullet automatically deactivates dynamic rigid bodies, when the velocity is below a threshold for a given time.
|
||||
///Deactivated (sleeping) rigid bodies don't take any processing time, except a minor broadphase collision detection impact (to allow active objects to activate/wake up sleeping objects)
|
||||
class btRigidBody : public btCollisionObject
|
||||
{
|
||||
|
||||
@@ -54,9 +56,15 @@ class btRigidBody : public btCollisionObject
|
||||
btScalar m_linearDamping;
|
||||
btScalar m_angularDamping;
|
||||
|
||||
bool m_additionalDamping;
|
||||
btScalar m_additionalDampingFactor;
|
||||
btScalar m_additionalLinearDampingThresholdSqr;
|
||||
btScalar m_additionalAngularDampingThresholdSqr;
|
||||
btScalar m_additionalAngularDampingFactor;
|
||||
|
||||
|
||||
btScalar m_linearSleepingThreshold;
|
||||
btScalar m_angularSleepingThreshold;
|
||||
|
||||
|
||||
//m_optionalMotionState allows to automatic synchronize the world transform for active objects
|
||||
btMotionState* m_optionalMotionState;
|
||||
@@ -66,20 +74,85 @@ class btRigidBody : public btCollisionObject
|
||||
|
||||
public:
|
||||
|
||||
#ifdef OBSOLETE_MOTIONSTATE_LESS
|
||||
//not supported, please use btMotionState
|
||||
btRigidBody(btScalar mass, const btTransform& worldTransform, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0),btScalar linearDamping=btScalar(0.),btScalar angularDamping=btScalar(0.),btScalar friction=btScalar(0.5),btScalar restitution=btScalar(0.));
|
||||
#endif //OBSOLETE_MOTIONSTATE_LESS
|
||||
|
||||
btRigidBody(btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0),btScalar linearDamping=btScalar(0.),btScalar angularDamping=btScalar(0.),btScalar friction=btScalar(0.5),btScalar restitution=btScalar(0.));
|
||||
///btRigidBodyConstructionInfo provides information to create a rigid body. Setting mass to zero creates a fixed (non-dynamic) rigid body.
|
||||
///For dynamic objects, you can use the collision shape to approximate the local inertia tensor, otherwise use the zero vector (default argument)
|
||||
///You can use the motion state to synchronize the world transform between physics and graphics objects.
|
||||
///And if the motion state is provided, the rigid body will initialize its initial world transform from the motion state,
|
||||
///m_startWorldTransform is only used when you don't provide a motion state.
|
||||
struct btRigidBodyConstructionInfo
|
||||
{
|
||||
btScalar m_mass;
|
||||
|
||||
virtual ~btRigidBody()
|
||||
///When a motionState is provided, the rigid body will initialize its world transform from the motion state
|
||||
///In this case, m_startWorldTransform is ignored.
|
||||
btMotionState* m_motionState;
|
||||
btTransform m_startWorldTransform;
|
||||
|
||||
btCollisionShape* m_collisionShape;
|
||||
btVector3 m_localInertia;
|
||||
btScalar m_linearDamping;
|
||||
btScalar m_angularDamping;
|
||||
|
||||
///best simulation results when friction is non-zero
|
||||
btScalar m_friction;
|
||||
///best simulation results using zero restitution.
|
||||
btScalar m_restitution;
|
||||
|
||||
btScalar m_linearSleepingThreshold;
|
||||
btScalar m_angularSleepingThreshold;
|
||||
|
||||
//Additional damping can help avoiding lowpass jitter motion, help stability for ragdolls etc.
|
||||
//Such damping is undesirable, so once the overall simulation quality of the rigid body dynamics system has improved, this should become obsolete
|
||||
bool m_additionalDamping;
|
||||
btScalar m_additionalDampingFactor;
|
||||
btScalar m_additionalLinearDampingThresholdSqr;
|
||||
btScalar m_additionalAngularDampingThresholdSqr;
|
||||
btScalar m_additionalAngularDampingFactor;
|
||||
|
||||
|
||||
btRigidBodyConstructionInfo( btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0)):
|
||||
m_mass(mass),
|
||||
m_motionState(motionState),
|
||||
m_collisionShape(collisionShape),
|
||||
m_localInertia(localInertia),
|
||||
m_linearDamping(btScalar(0.)),
|
||||
m_angularDamping(btScalar(0.)),
|
||||
m_friction(btScalar(0.5)),
|
||||
m_restitution(btScalar(0.)),
|
||||
m_linearSleepingThreshold(btScalar(0.8)),
|
||||
m_angularSleepingThreshold(btScalar(1.f)),
|
||||
m_additionalDamping(false),
|
||||
m_additionalDampingFactor(btScalar(0.005)),
|
||||
m_additionalLinearDampingThresholdSqr(btScalar(0.01)),
|
||||
m_additionalAngularDampingThresholdSqr(btScalar(0.01)),
|
||||
m_additionalAngularDampingFactor(btScalar(0.01))
|
||||
{
|
||||
m_startWorldTransform.setIdentity();
|
||||
}
|
||||
};
|
||||
|
||||
///btRigidBody constructor using construction info
|
||||
btRigidBody( const btRigidBodyConstructionInfo& constructionInfo);
|
||||
|
||||
///btRigidBody constructor for backwards compatibility.
|
||||
///To specify friction (etc) during rigid body construction, please use the other constructor (using btRigidBodyConstructionInfo)
|
||||
btRigidBody( btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0));
|
||||
|
||||
|
||||
virtual ~btRigidBody()
|
||||
{
|
||||
//No constraints should point to this rigidbody
|
||||
//Remove constraints from the dynamics world before you delete the related rigidbodies.
|
||||
btAssert(m_constraintRefs.size()==0);
|
||||
}
|
||||
|
||||
protected:
|
||||
|
||||
///setupRigidBody is only used internally by the constructor
|
||||
void setupRigidBody(const btRigidBodyConstructionInfo& constructionInfo);
|
||||
|
||||
public:
|
||||
|
||||
void proceedToTransform(const btTransform& newTrans);
|
||||
|
||||
@@ -99,8 +172,7 @@ public:
|
||||
|
||||
void saveKinematicState(btScalar step);
|
||||
|
||||
|
||||
void applyForces(btScalar step);
|
||||
void applyGravity();
|
||||
|
||||
void setGravity(const btVector3& acceleration);
|
||||
|
||||
@@ -110,7 +182,9 @@ public:
|
||||
}
|
||||
|
||||
void setDamping(btScalar lin_damping, btScalar ang_damping);
|
||||
|
||||
|
||||
void applyDamping(btScalar timeStep);
|
||||
|
||||
SIMD_FORCE_INLINE const btCollisionShape* getCollisionShape() const {
|
||||
return m_collisionShape;
|
||||
}
|
||||
|
||||
@@ -188,8 +188,9 @@ void btSimpleDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
|
||||
{
|
||||
if (body->isActive())
|
||||
{
|
||||
body->applyForces( timeStep);
|
||||
body->applyGravity();
|
||||
body->integrateVelocities( timeStep);
|
||||
body->applyDamping(timeStep);
|
||||
body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform());
|
||||
}
|
||||
}
|
||||
|
||||
@@ -23,8 +23,6 @@
|
||||
|
||||
#include "BulletDynamics/ConstraintSolver/btContactConstraint.h"
|
||||
|
||||
|
||||
|
||||
static btRigidBody s_fixedObject( 0,0,0);
|
||||
|
||||
btRaycastVehicle::btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis, btVehicleRaycaster* raycaster )
|
||||
|
||||
Reference in New Issue
Block a user