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- Added btRigidBodyConstructionInfo, to make it easier to set individual setting (and leave other untouched) during rigid body construction.

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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
2007-12-17 04:26:36 +00:00
parent b8c2cb6f53
commit 17a214a2b3
28 changed files with 318 additions and 886 deletions
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54
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -211,6 +211,24 @@ void btDiscreteDynamicsWorld::clearForces()
}
}
///apply gravity, call this once per timestep
void btDiscreteDynamicsWorld::applyGravity()
{
//todo: iterate over awake simulation islands!
for ( int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
btRigidBody* body = btRigidBody::upcast(colObj);
if (body && body->isActive())
{
body->applyGravity();
}
}
}
void btDiscreteDynamicsWorld::synchronizeMotionStates()
{
{
@@ -255,7 +273,7 @@ int btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps,
{
startProfiling(timeStep);
PROFILE("stepSimulation");
BT_PROFILE("stepSimulation");
int numSimulationSubSteps = 0;
@@ -294,6 +312,8 @@ int btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps,
saveKinematicState(fixedTimeStep);
applyGravity();
//clamp the number of substeps, to prevent simulation grinding spiralling down to a halt
int clampedSimulationSteps = (numSimulationSubSteps > maxSubSteps)? maxSubSteps : numSimulationSubSteps;
@@ -317,7 +337,7 @@ int btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps,
void btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
{
PROFILE("internalSingleStepSimulation");
BT_PROFILE("internalSingleStepSimulation");
///apply gravity, predict motion
predictUnconstraintMotion(timeStep);
@@ -407,21 +427,18 @@ void btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body, short group, short
void btDiscreteDynamicsWorld::updateVehicles(btScalar timeStep)
{
PROFILE("updateVehicles");
BEGIN_PROFILE("updateVehicles");
BT_PROFILE("updateVehicles");
for ( int i=0;i<m_vehicles.size();i++)
{
btRaycastVehicle* vehicle = m_vehicles[i];
vehicle->updateVehicle( timeStep);
}
END_PROFILE("updateVehicles");
}
void btDiscreteDynamicsWorld::updateActivationState(btScalar timeStep)
{
PROFILE("updateActivationState");
BEGIN_PROFILE("updateActivationState");
BT_PROFILE("updateActivationState");
for ( int i=0;i<m_collisionObjects.size();i++)
{
@@ -448,7 +465,6 @@ void btDiscreteDynamicsWorld::updateActivationState(btScalar timeStep)
}
}
}
END_PROFILE("updateActivationState");
}
void btDiscreteDynamicsWorld::addConstraint(btTypedConstraint* constraint,bool disableCollisionsBetweenLinkedBodies)
@@ -508,7 +524,7 @@ class btSortConstraintOnIslandPredicate
void btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
{
PROFILE("solveConstraints");
BT_PROFILE("solveConstraints");
struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCallback
{
@@ -616,8 +632,7 @@ void btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
void btDiscreteDynamicsWorld::calculateSimulationIslands()
{
PROFILE("calculateSimulationIslands");
BEGIN_PROFILE("calculateSimulationIslands");
BT_PROFILE("calculateSimulationIslands");
getSimulationIslandManager()->updateActivationState(getCollisionWorld(),getCollisionWorld()->getDispatcher());
@@ -647,16 +662,14 @@ void btDiscreteDynamicsWorld::calculateSimulationIslands()
//Store the island id in each body
getSimulationIslandManager()->storeIslandActivationState(getCollisionWorld());
END_PROFILE("calculateSimulationIslands");
}
void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
{
PROFILE("integrateTransforms");
BEGIN_PROFILE("integrateTransforms");
BT_PROFILE("integrateTransforms");
btTransform predictedTrans;
for ( int i=0;i<m_collisionObjects.size();i++)
{
@@ -671,15 +684,13 @@ void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
}
}
}
END_PROFILE("integrateTransforms");
}
void btDiscreteDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
{
PROFILE("predictUnconstraintMotion");
BEGIN_PROFILE("predictUnconstraintMotion");
BT_PROFILE("predictUnconstraintMotion");
for ( int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
@@ -690,14 +701,15 @@ void btDiscreteDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
{
if (body->isActive())
{
body->applyForces( timeStep);
body->integrateVelocities( timeStep);
//damping
body->applyDamping(timeStep);
body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform());
}
}
}
}
END_PROFILE("predictUnconstraintMotion");
}