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improvements/bugfixes related to kinematic(animated) objects, synchronizeMotionStates

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This commit is contained in:
ejcoumans
2006-10-19 15:20:38 +00:00
parent d11572a4d7
commit 289c5ca7fe
9 changed files with 71 additions and 40 deletions
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2
Demos/BasicDemo/BasicDemo.cpp
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@@ -38,7 +38,7 @@ int main(int argc,char** argv)
BasicDemo ccdDemo;
ccdDemo.initPhysics();
ccdDemo.setCameraDistance(10.f);
ccdDemo.setCameraDistance(50.f);
#ifdef CHECK_MEMORY_LEAKS
ccdDemo.exitPhysics();

25
Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
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@@ -13,10 +13,10 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
//#define USER_DEFINED_FRICTION_MODEL 1
//#define PRINT_CONTACT_STATISTICS 1
//#define USE_KINEMATIC_GROUND 1
//#define PRINT_CONTACT_STATISTICS 1
//#define REGISTER_CUSTOM_COLLISION_ALGORITHM 1
//#define USER_DEFINED_FRICTION_MODEL 1
//following define allows to compare/replace Bullet's constraint solver with ODE quickstep
//this define requires to either add the libquickstep library (win32, see msvc/8/libquickstep.vcproj) or manually add the files in Extras/quickstep
@@ -137,9 +137,21 @@ void CcdPhysicsDemo::clientMoveAndDisplay()
#ifdef USE_KINEMATIC_GROUND
//btQuaternion kinRotation(btVector3(0,0,1),0.);
btVector3 kinTranslation(0,0,0.01);
btVector3 kinTranslation(-0.01,0,0);
//kinematic object
btCollisionObject* colObj = m_dynamicsWorld->getCollisionObjectArray()[0];
//is this a rigidbody with a motionstate? then use the motionstate to update positions!
if (btRigidBody::upcast(colObj) && btRigidBody::upcast(colObj)->getMotionState())
{
btTransform newTrans;
btRigidBody::upcast(colObj)->getMotionState()->getWorldTransform(newTrans);
newTrans.getOrigin()+=kinTranslation;
btRigidBody::upcast(colObj)->getMotionState()->setWorldTransform(newTrans);
} else
{
m_dynamicsWorld->getCollisionObjectArray()[0]->m_worldTransform.getOrigin() += kinTranslation;
}
#endif //USE_KINEMATIC_GROUND
float dt = m_clock.getTimeMilliseconds() * 0.001f;
@@ -247,15 +259,17 @@ void CcdPhysicsDemo::initPhysics()
#ifdef USER_DEFINED_FRICTION_MODEL
btSequentialImpulseConstraintSolver* solver = (btSequentialImpulseConstraintSolver*) m_physicsEnvironmentPtr->GetConstraintSolver();
{
//solver->setContactSolverFunc(ContactSolverFunc func,USER_CONTACT_SOLVER_TYPE1,DEFAULT_CONTACT_SOLVER_TYPE);
solver->SetFrictionSolverFunc(myFrictionModel,USER_CONTACT_SOLVER_TYPE1,DEFAULT_CONTACT_SOLVER_TYPE);
solver->SetFrictionSolverFunc(myFrictionModel,DEFAULT_CONTACT_SOLVER_TYPE,USER_CONTACT_SOLVER_TYPE1);
solver->SetFrictionSolverFunc(myFrictionModel,USER_CONTACT_SOLVER_TYPE1,USER_CONTACT_SOLVER_TYPE1);
//m_physicsEnvironmentPtr->setNumIterations(2);
}
#endif //USER_DEFINED_FRICTION_MODEL
int i;
btTransform tr;
@@ -331,7 +345,6 @@ void CcdPhysicsDemo::initPhysics()
{
body->m_collisionFlags = btCollisionObject::CF_KINEMATIC_OJBECT;
body->SetActivationState(DISABLE_DEACTIVATION);
body->setLinearVelocity(btVector3(0,0,1));
}
#endif //USE_KINEMATIC_GROUND
@@ -344,7 +357,7 @@ void CcdPhysicsDemo::initPhysics()
#ifdef USER_DEFINED_FRICTION_MODEL
///Advanced use: override the friction solver
ctrl->getRigidBody()->m_frictionSolverType = USER_CONTACT_SOLVER_TYPE1;
body->m_frictionSolverType = USER_CONTACT_SOLVER_TYPE1;
#endif //USER_DEFINED_FRICTION_MODEL
}

8
Demos/ColladaDemo/ColladaConverter.cpp
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@@ -545,8 +545,7 @@ void ColladaConverter::prepareConstraints(ConstraintInput& input)
{
if (m_rigidBodies[i]->m_userObjectPointer)
{
btDefaultMotionState* ms = (btDefaultMotionState*)m_rigidBodies[i]->m_userObjectPointer;
char* bodyName = (char*)ms->m_userPointer;
char* bodyName = (char*)m_rigidBodies[i]->m_userObjectPointer;
if (!strcmp(bodyName,orgUri0))
{
body0=m_rigidBodies[i];
@@ -707,9 +706,8 @@ void ColladaConverter::PreparePhysicsObject(struct btRigidBodyInput& input, bool
btRigidBody* body= createRigidBody(isDynamics,mass,startTransform,colShape);
if (body && body->m_userObjectPointer)
{
//for bodyName lookup in constraints
btDefaultMotionState* ms = (btDefaultMotionState*)body->m_userObjectPointer;
ms->m_userPointer = (void*)input.m_bodyName;
//bodyName is used as identifier for constraints
body->m_userObjectPointer = (void*)input.m_bodyName;
m_rigidBodies[m_numObjects] = body;
m_numObjects++;
}

19
Demos/OpenGL/DemoApplication.cpp
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@@ -650,10 +650,16 @@ btRigidBody* DemoApplication::localCreateRigidBody(float mass, const btTransform
if (isDynamic)
shape->calculateLocalInertia(mass,localInertia);
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
#define USE_MOTIONSTATE 1
#ifdef USE_MOTIONSTATE
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
btRigidBody* body = new btRigidBody(mass,myMotionState,shape,localInertia);
body->m_userObjectPointer = myMotionState;
#else
btRigidBody* body = new btRigidBody(mass,startTransform,shape,localInertia);
#endif//
m_dynamicsWorld->addRigidBody(body);
return body;
@@ -675,10 +681,11 @@ void DemoApplication::renderme()
for (int i=0;i<numObjects;i++)
{
btCollisionObject* colObj = m_dynamicsWorld->getCollisionObjectArray()[i];
btRigidBody* body = btRigidBody::upcast(colObj);
if (colObj->m_userObjectPointer)
if (body && body->getMotionState())
{
btDefaultMotionState* myMotionState = (btDefaultMotionState*)colObj->m_userObjectPointer;
btDefaultMotionState* myMotionState = (btDefaultMotionState*)body->getMotionState();
myMotionState->m_graphicsWorldTrans.getOpenGLMatrix(m);
} else
{
@@ -819,10 +826,10 @@ void DemoApplication::clientResetScene()
for (int i=0;i<numObjects;i++)
{
btCollisionObject* colObj = m_dynamicsWorld->getCollisionObjectArray()[i];
if (colObj->m_userObjectPointer)
btRigidBody* body = btRigidBody::upcast(colObj);
if (body && body->getMotionState())
{
btDefaultMotionState* myMotionState = (btDefaultMotionState*)colObj->m_userObjectPointer;
btDefaultMotionState* myMotionState = (btDefaultMotionState*)body->getMotionState();
myMotionState->m_graphicsWorldTrans = myMotionState->m_startWorldTrans;
colObj->m_worldTransform = myMotionState->m_graphicsWorldTrans;
colObj->m_interpolationWorldTransform = myMotionState->m_startWorldTrans;

5
src/BulletCollision/CollisionDispatch/btCollisionObject.h
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@@ -92,6 +92,11 @@ struct btCollisionObject
return m_collisionFlags & CF_KINEMATIC_OJBECT;
}
inline bool isStaticOrKinematicObject() const
{
return m_collisionFlags & (CF_KINEMATIC_OJBECT | CF_STATIC_OBJECT);
}
inline bool hasContactResponse() const {
return !(m_collisionFlags & CF_NO_CONTACT_RESPONSE);
}

10
src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
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@@ -237,6 +237,16 @@ 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)
{
colObj1->SetActivationState(ACTIVE_TAG);
}
if (colObj1->isKinematicObject() && colObj1->GetActivationState() != ISLAND_SLEEPING)
{
colObj0->SetActivationState(ACTIVE_TAG);
}
//filtering for response
if (dispatcher->needsResponse(colObj0,colObj1))
islandmanifold.push_back(manifold);

6
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -145,7 +145,7 @@ void btDiscreteDynamicsWorld::synchronizeMotionStates()
debugDrawObject(colObj->m_worldTransform,colObj->m_collisionShape,color);
}
btRigidBody* body = btRigidBody::upcast(colObj);
if (body && body->getMotionState())
if (body && body->getMotionState() && !body->isStaticOrKinematicObject())
{
if (body->GetActivationState() != ISLAND_SLEEPING)
{
@@ -524,7 +524,7 @@ void btDiscreteDynamicsWorld::integrateTransforms(float timeStep)
btRigidBody* body = btRigidBody::upcast(colObj);
if (body)
{
if (body->IsActive() && (!body->isStaticObject()))
if (body->IsActive() && (!body->isStaticOrKinematicObject()))
{
body->predictIntegratedTransform(timeStep, predictedTrans);
body->proceedToTransform( predictedTrans);
@@ -545,7 +545,7 @@ void btDiscreteDynamicsWorld::predictUnconstraintMotion(float timeStep)
btRigidBody* body = btRigidBody::upcast(colObj);
if (body)
{
if (!body->isStaticObject())
if (!body->isStaticOrKinematicObject())
{
if (body->IsActive())
{

18
src/BulletDynamics/Dynamics/btRigidBody.cpp
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@@ -37,7 +37,6 @@ btRigidBody::btRigidBody(float mass, btMotionState* motionState, btCollisionShap
m_angularVelocity(0.f,0.f,0.f),
m_linearDamping(0.f),
m_angularDamping(0.5f),
m_kinematicTimeStep(0.f),
m_optionalMotionState(motionState),
m_contactSolverType(0),
m_frictionSolverType(0)
@@ -73,7 +72,6 @@ btRigidBody::btRigidBody( float mass,const btTransform& worldTransform,btCollisi
m_angularVelocity(0.f,0.f,0.f),
m_linearDamping(0.f),
m_angularDamping(0.5f),
m_kinematicTimeStep(0.f),
m_optionalMotionState(0),
m_contactSolverType(0),
m_frictionSolverType(0)
@@ -109,15 +107,17 @@ void btRigidBody::predictIntegratedTransform(btScalar timeStep,btTransform& pred
void btRigidBody::saveKinematicState(btScalar timeStep)
{
if (m_kinematicTimeStep)
//todo: clamp to some (user definable) safe minimum timestep, to limit maximum angular/linear velocities
if (timeStep != 0.f)
{
//if we use motionstate to synchronize world transforms, get the new kinematic/animated world transform
if (getMotionState())
getMotionState()->getWorldTransform(m_worldTransform);
btVector3 linVel,angVel;
btTransformUtil::calculateVelocity(m_interpolationWorldTransform,m_worldTransform,m_kinematicTimeStep,m_linearVelocity,m_angularVelocity);
btTransformUtil::calculateVelocity(m_interpolationWorldTransform,m_worldTransform,timeStep,m_linearVelocity,m_angularVelocity);
m_interpolationWorldTransform = m_worldTransform;
//printf("angular = %f %f %f\n",m_angularVelocity.getX(),m_angularVelocity.getY(),m_angularVelocity.getZ());
}
m_kinematicTimeStep = timeStep;
}
void btRigidBody::getAabb(btVector3& aabbMin,btVector3& aabbMax) const
@@ -154,7 +154,7 @@ void btRigidBody::setDamping(btScalar lin_damping, btScalar ang_damping)
void btRigidBody::applyForces(btScalar step)
{
if (isStaticObject() || isKinematicObject())
if (isStaticOrKinematicObject())
return;
applyCentralForce(m_gravity);
@@ -229,7 +229,7 @@ void btRigidBody::updateInertiaTensor()
void btRigidBody::integrateVelocities(btScalar step)
{
if (isStaticObject() || isKinematicObject())
if (isStaticOrKinematicObject())
return;
m_linearVelocity += m_totalForce * (m_inverseMass * step);

2
src/BulletDynamics/Dynamics/btRigidBody.h
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@@ -56,7 +56,6 @@ class btRigidBody : public btCollisionObject
btScalar m_linearDamping;
btScalar m_angularDamping;
btScalar m_kinematicTimeStep;
//m_optionalMotionState allows to automatic synchronize the world transform for active objects
btMotionState* m_optionalMotionState;
@@ -148,7 +147,6 @@ public:
void applyTorqueImpulse(const btVector3& torque)
{
if (!isStaticObject()&& !isKinematicObject())
m_angularVelocity += m_invInertiaTensorWorld * torque;
}