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Merge pull request #894 from lunkhound/pr-fix-kinematics

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FIX: kinematic objects treated as static when BT_THREADSAFE is defined
This commit is contained in:
erwincoumans
2016-12-19 22:49:01 -08:00
committed by GitHub
parent e71560a2ee 6d2c7b9aba
commit 1deb3c1666
3 changed files with 83 additions and 19 deletions
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11
examples/MultiThreadedDemo/CommonRigidBodyMTBase.h
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@@ -406,6 +406,17 @@ struct CommonRigidBodyMTBase : public CommonExampleInterface
return body;
}
btRigidBody* createKinematicBody(const btTransform& startTransform, btCollisionShape* shape)
{
btAssert( ( !shape || shape->getShapeType() != INVALID_SHAPE_PROXYTYPE ) );
btRigidBody* body = new btRigidBody( 0.0f, NULL, shape );
body->setWorldTransform( startTransform );
body->setCollisionFlags( body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT );
body->setUserIndex( -1 );
m_dynamicsWorld->addRigidBody( body );
return body;
}
virtual void renderScene()

62
examples/MultiThreadedDemo/MultiThreadedDemo.cpp
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@@ -30,6 +30,13 @@ class btCollisionShape;
#define BT_OVERRIDE
static btScalar gSliderStackRows = 8.0f;
static btScalar gSliderStackColumns = 6.0f;
static btScalar gSliderStackHeight = 15.0f;
static btScalar gSliderGroundHorizontalAmplitude = 0.0f;
static btScalar gSliderGroundVerticalAmplitude = 0.0f;
/// MultiThreadedDemo shows how to setup and use multithreading
class MultiThreadedDemo : public CommonRigidBodyMTBase
{
@@ -41,6 +48,9 @@ class MultiThreadedDemo : public CommonRigidBodyMTBase
float m_cameraPitch;
float m_cameraYaw;
float m_cameraDist;
btRigidBody* m_groundBody;
btTransform m_groundStartXf;
float m_groundMovePhase;
void createStack( const btVector3& pos, btCollisionShape* boxShape, const btVector3& halfBoxSize, int size );
void createSceneObjects();
@@ -57,6 +67,28 @@ public:
{
if ( m_dynamicsWorld )
{
if (m_groundBody)
{
// update ground
const float cyclesPerSecond = 1.0f;
m_groundMovePhase += cyclesPerSecond * deltaTime;
m_groundMovePhase -= floor( m_groundMovePhase ); // keep phase between 0 and 1
btTransform xf = m_groundStartXf;
float gndHOffset = btSin(m_groundMovePhase * SIMD_2_PI) * gSliderGroundHorizontalAmplitude;
float gndHVel = btCos(m_groundMovePhase * SIMD_2_PI) * gSliderGroundHorizontalAmplitude * cyclesPerSecond * SIMD_2_PI; // d(gndHOffset)/dt
float gndVOffset = btSin(m_groundMovePhase * SIMD_2_PI) * gSliderGroundVerticalAmplitude;
float gndVVel = btCos(m_groundMovePhase * SIMD_2_PI) * gSliderGroundVerticalAmplitude * cyclesPerSecond * SIMD_2_PI; // d(gndVOffset)/dt
btVector3 offset(0,0,0);
btVector3 vel(0,0,0);
int horizAxis = 2;
offset[horizAxis] = gndHOffset;
vel[horizAxis] = gndHVel;
offset[kUpAxis] = gndVOffset;
vel[kUpAxis] = gndVVel;
xf.setOrigin(xf.getOrigin() + offset);
m_groundBody->setWorldTransform( xf );
m_groundBody->setLinearVelocity( vel );
}
// always step by 1/60 for benchmarking
m_dynamicsWorld->stepSimulation( 1.0f / 60.0f, 0 );
}
@@ -80,6 +112,8 @@ public:
MultiThreadedDemo::MultiThreadedDemo(struct GUIHelperInterface* helper)
: CommonRigidBodyMTBase( helper )
{
m_groundBody = NULL;
m_groundMovePhase = 0.0f;
m_cameraTargetPos = btVector3( 0.0f, 0.0f, 0.0f );
m_cameraPitch = 90.0f;
m_cameraYaw = 30.0f;
@@ -88,10 +122,6 @@ MultiThreadedDemo::MultiThreadedDemo(struct GUIHelperInterface* helper)
}
static btScalar gSliderStackRows = 8.0f;
static btScalar gSliderStackColumns = 6.0f;
static btScalar gSliderStackHeight = 15.0f;
void MultiThreadedDemo::initPhysics()
{
createEmptyDynamicsWorld();
@@ -119,6 +149,22 @@ void MultiThreadedDemo::initPhysics()
slider.m_clampToIntegers = true;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter( slider );
}
{
// horizontal ground shake
SliderParams slider( "Ground horiz amp", &gSliderGroundHorizontalAmplitude );
slider.m_minVal = 0.0f;
slider.m_maxVal = 1.0f;
slider.m_clampToNotches = false;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter( slider );
}
{
// vertical ground shake
SliderParams slider( "Ground vert amp", &gSliderGroundVerticalAmplitude );
slider.m_minVal = 0.0f;
slider.m_maxVal = 1.0f;
slider.m_clampToNotches = false;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter( slider );
}
createSceneObjects();
@@ -161,6 +207,7 @@ void MultiThreadedDemo::createStack( const btVector3& center, btCollisionShape*
btScalar mass = 1.f;
btRigidBody* body = localCreateRigidBody( mass, trans, boxShape );
body->setFriction(1.0f);
}
}
}
@@ -172,7 +219,8 @@ void MultiThreadedDemo::createSceneObjects()
// create ground box
btTransform tr;
tr.setIdentity();
tr.setOrigin( btVector3( 0, -3, 0 ) );
tr.setOrigin( btVector3( 0.f, -3.f, 0.f ) );
m_groundStartXf = tr;
//either use heightfield or triangle mesh
@@ -182,7 +230,9 @@ void MultiThreadedDemo::createSceneObjects()
m_collisionShapes.push_back( groundShape );
//create ground object
localCreateRigidBody( 0, tr, groundShape );
m_groundBody = createKinematicBody( m_groundStartXf, groundShape );
m_groundBody->forceActivationState( DISABLE_DEACTIVATION );
m_groundBody->setFriction(1.0f);
}
{

29
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
View File

@@ -738,20 +738,12 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject&
}
}
}
else if ( body.isStaticObject() )
else if (body.isKinematicObject())
{
// all fixed bodies (inf mass) get mapped to a single solver id
if ( m_fixedBodyId < 0 )
{
m_fixedBodyId = m_tmpSolverBodyPool.size();
btSolverBody& fixedBody = m_tmpSolverBodyPool.expand();
initSolverBody( &fixedBody, 0, timeStep );
}
solverBodyId = m_fixedBodyId;
}
else
{
// kinematic
//
// NOTE: must test for kinematic before static because some kinematic objects also
// identify as "static"
//
// Kinematic bodies can be in multiple islands at once, so it is a
// race condition to write to them, so we use an alternate method
// to record the solverBodyId
@@ -773,6 +765,17 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject&
m_kinematicBodyUniqueIdToSolverBodyTable[ uniqueId ] = solverBodyId;
}
}
else
{
// all fixed bodies (inf mass) get mapped to a single solver id
if ( m_fixedBodyId < 0 )
{
m_fixedBodyId = m_tmpSolverBodyPool.size();
btSolverBody& fixedBody = m_tmpSolverBodyPool.expand();
initSolverBody( &fixedBody, 0, timeStep );
}
solverBodyId = m_fixedBodyId;
}
btAssert( solverBodyId < m_tmpSolverBodyPool.size() );
return solverBodyId;
#else // BT_THREADSAFE