- 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
@@ -20,38 +20,51 @@ subject to the following restrictions:
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#include "LinearMath/btMotionState.h"
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#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
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btScalar gLinearAirDamping = btScalar(1.);
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//'temporarily' global variables
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btScalar gDeactivationTime = btScalar(2.);
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bool gDisableDeactivation = false;
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btScalar gLinearSleepingThreshold = btScalar(0.8);
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btScalar gAngularSleepingThreshold = btScalar(1.0);
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static int uniqueId = 0;
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btRigidBody::btRigidBody(btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia,btScalar linearDamping,btScalar angularDamping,btScalar friction,btScalar restitution)
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:
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m_linearVelocity(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
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m_angularVelocity(btScalar(0.),btScalar(0.),btScalar(0.)),
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m_angularFactor(btScalar(1.)),
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m_gravity(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
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m_totalForce(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
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m_totalTorque(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
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m_linearDamping(btScalar(0.)),
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m_angularDamping(btScalar(0.5)),
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m_linearSleepingThreshold(gLinearSleepingThreshold),
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m_angularSleepingThreshold(gAngularSleepingThreshold),
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m_optionalMotionState(motionState),
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m_contactSolverType(0),
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m_frictionSolverType(0)
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btRigidBody::btRigidBody(const btRigidBody::btRigidBodyConstructionInfo& constructionInfo)
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{
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setupRigidBody(constructionInfo);
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}
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btRigidBody::btRigidBody(btScalar mass, btMotionState *motionState, btCollisionShape *collisionShape, const btVector3 &localInertia)
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{
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btRigidBodyConstructionInfo cinfo(mass,motionState,collisionShape,localInertia);
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setupRigidBody(cinfo);
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}
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void btRigidBody::setupRigidBody(const btRigidBody::btRigidBodyConstructionInfo& constructionInfo)
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{
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if (motionState)
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m_linearVelocity.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
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m_angularVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
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m_angularFactor = btScalar(1.);
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m_gravity.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
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m_totalForce.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
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m_totalTorque.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
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m_linearDamping = btScalar(0.);
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m_angularDamping = btScalar(0.5);
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m_linearSleepingThreshold = constructionInfo.m_linearSleepingThreshold;
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m_angularSleepingThreshold = constructionInfo.m_angularSleepingThreshold;
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m_optionalMotionState = constructionInfo.m_motionState;
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m_contactSolverType = 0;
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m_frictionSolverType = 0;
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m_additionalDamping = constructionInfo.m_additionalDamping;
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m_additionalLinearDampingThresholdSqr = constructionInfo.m_additionalLinearDampingThresholdSqr;
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m_additionalAngularDampingThresholdSqr = constructionInfo.m_additionalAngularDampingThresholdSqr;
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m_additionalAngularDampingFactor = constructionInfo.m_additionalAngularDampingFactor;
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if (m_optionalMotionState)
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{
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motionState->getWorldTransform(m_worldTransform);
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m_optionalMotionState->getWorldTransform(m_worldTransform);
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} else
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{
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m_worldTransform = btTransform::getIdentity();
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m_worldTransform = constructionInfo.m_startWorldTransform;
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}
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m_interpolationWorldTransform = m_worldTransform;
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@@ -59,93 +72,24 @@ btRigidBody::btRigidBody(btScalar mass, btMotionState* motionState, btCollisionS
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m_interpolationAngularVelocity.setValue(0,0,0);
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//moved to btCollisionObject
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m_friction = friction;
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m_restitution = restitution;
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m_friction = constructionInfo.m_friction;
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m_restitution = constructionInfo.m_restitution;
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m_collisionShape = collisionShape;
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m_collisionShape = constructionInfo.m_collisionShape;
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m_debugBodyId = uniqueId++;
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//m_internalOwner is to allow upcasting from collision object to rigid body
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m_internalOwner = this;
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setMassProps(mass, localInertia);
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setDamping(linearDamping, angularDamping);
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setMassProps(constructionInfo.m_mass, constructionInfo.m_localInertia);
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setDamping(constructionInfo.m_linearDamping, constructionInfo.m_angularDamping);
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updateInertiaTensor();
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}
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#ifdef OBSOLETE_MOTIONSTATE_LESS
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btRigidBody::btRigidBody( btScalar mass,const btTransform& worldTransform,btCollisionShape* collisionShape,const btVector3& localInertia,btScalar linearDamping,btScalar angularDamping,btScalar friction,btScalar restitution)
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:
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m_gravity(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
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m_totalForce(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
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m_totalTorque(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
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m_linearVelocity(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
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m_angularVelocity(btScalar(0.),btScalar(0.),btScalar(0.)),
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m_linearSleepingThreshold(gLinearSleepingThreshold),
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m_angularSleepingThreshold(gAngularSleepingThreshold),
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m_linearDamping(btScalar(0.)),
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m_angularDamping(btScalar(0.5)),
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m_optionalMotionState(0),
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m_contactSolverType(0),
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m_frictionSolverType(0)
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{
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m_worldTransform = worldTransform;
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m_interpolationWorldTransform = m_worldTransform;
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m_interpolationLinearVelocity.setValue(0,0,0);
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m_interpolationAngularVelocity.setValue(0,0,0);
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//moved to btCollisionObject
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m_friction = friction;
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m_restitution = restitution;
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m_collisionShape = collisionShape;
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m_debugBodyId = uniqueId++;
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//m_internalOwner is to allow upcasting from collision object to rigid body
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m_internalOwner = this;
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setMassProps(mass, localInertia);
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setDamping(linearDamping, angularDamping);
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updateInertiaTensor();
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}
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#endif //OBSOLETE_MOTIONSTATE_LESS
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#define EXPERIMENTAL_JITTER_REMOVAL 1
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#ifdef EXPERIMENTAL_JITTER_REMOVAL
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//Bullet 2.20b has experimental damping code to reduce jitter just before objects fall asleep/deactivate
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//doesn't work very well yet (value 0 disabled this damping)
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//note there this influences deactivation thresholds!
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btScalar gClippedAngvelThresholdSqr = btScalar(0.01);
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btScalar gClippedLinearThresholdSqr = btScalar(0.01);
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#endif //EXPERIMENTAL_JITTER_REMOVAL
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btScalar gJitterVelocityDampingFactor = btScalar(0.7);
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void btRigidBody::predictIntegratedTransform(btScalar timeStep,btTransform& predictedTransform)
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{
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#ifdef EXPERIMENTAL_JITTER_REMOVAL
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//if (wantsSleeping())
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{
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//clip to avoid jitter
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if ((m_angularVelocity.length2() < gClippedAngvelThresholdSqr) &&
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(m_linearVelocity.length2() < gClippedLinearThresholdSqr))
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{
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m_angularVelocity *= gJitterVelocityDampingFactor;
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m_linearVelocity *= gJitterVelocityDampingFactor;
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}
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}
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#endif //EXPERIMENTAL_JITTER_REMOVAL
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btTransformUtil::integrateTransform(m_worldTransform,m_linearVelocity,m_angularVelocity,timeStep,predictedTransform);
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}
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@@ -196,50 +140,63 @@ void btRigidBody::setDamping(btScalar lin_damping, btScalar ang_damping)
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#include <stdio.h>
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///applyDamping damps the velocity, using the given m_linearDamping and m_angularDamping
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void btRigidBody::applyDamping(btScalar timeStep)
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{
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m_linearVelocity *= GEN_clamped((btScalar(1.) - timeStep * m_linearDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
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m_angularVelocity *= GEN_clamped((btScalar(1.) - timeStep * m_angularDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
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if (m_additionalDamping)
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{
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//Additional damping can help avoiding lowpass jitter motion, help stability for ragdolls etc.
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//Such damping is undesirable, so once the overall simulation quality of the rigid body dynamics system has improved, this should become obsolete
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if ((m_angularVelocity.length2() < m_additionalAngularDampingThresholdSqr) &&
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(m_linearVelocity.length2() < m_additionalLinearDampingThresholdSqr))
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{
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m_angularVelocity *= m_additionalDampingFactor;
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m_linearVelocity *= m_additionalDampingFactor;
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}
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btScalar speed = m_linearVelocity.length();
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if (speed < m_linearDamping)
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{
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btScalar dampVel = btScalar(0.005);
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if (speed > dampVel)
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{
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btVector3 dir = m_linearVelocity.normalized();
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m_linearVelocity -= dir * dampVel;
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} else
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{
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m_linearVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
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}
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}
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btScalar angSpeed = m_angularVelocity.length();
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if (angSpeed < m_angularDamping)
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{
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btScalar angDampVel = btScalar(0.005);
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if (angSpeed > angDampVel)
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{
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btVector3 dir = m_angularVelocity.normalized();
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m_angularVelocity -= dir * angDampVel;
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} else
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{
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m_angularVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
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}
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}
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}
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}
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void btRigidBody::applyForces(btScalar step)
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void btRigidBody::applyGravity()
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{
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if (isStaticOrKinematicObject())
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return;
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applyCentralForce(m_gravity);
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m_linearVelocity *= GEN_clamped((btScalar(1.) - step * gLinearAirDamping * m_linearDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
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m_angularVelocity *= GEN_clamped((btScalar(1.) - step * m_angularDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
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#define FORCE_VELOCITY_DAMPING 1
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#ifdef FORCE_VELOCITY_DAMPING
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btScalar speed = m_linearVelocity.length();
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if (speed < m_linearDamping)
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{
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btScalar dampVel = btScalar(0.005);
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if (speed > dampVel)
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{
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btVector3 dir = m_linearVelocity.normalized();
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m_linearVelocity -= dir * dampVel;
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} else
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{
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m_linearVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
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}
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}
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btScalar angSpeed = m_angularVelocity.length();
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if (angSpeed < m_angularDamping)
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{
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btScalar angDampVel = btScalar(0.005);
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if (angSpeed > angDampVel)
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{
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btVector3 dir = m_angularVelocity.normalized();
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m_angularVelocity -= dir * angDampVel;
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} else
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{
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m_angularVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
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}
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}
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#endif //FORCE_VELOCITY_DAMPING
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}
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void btRigidBody::proceedToTransform(const btTransform& newTrans)
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