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enable to suspend and restore dynamics. also, catched the case where failed dynamics (resulting in infinite AABB sizes) doesn't mess up the entire simulation, it just get's deactivated (with a message that a simulation error happened)

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This commit is contained in:
ejcoumans
2006-06-22 03:00:43 +00:00
parent c5fdd98330
commit 2eed545a70
5 changed files with 43 additions and 11 deletions
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38
Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp
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@@ -638,7 +638,7 @@ bool CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
CcdPhysicsController* ctrl = m_controllers[k];
// SimdTransform predictedTrans;
RigidBody* body = ctrl->GetRigidBody();
if (body->GetActivationState() != ISLAND_SLEEPING)
if (body->IsActive())
{
if (!body->IsStatic())
{
@@ -695,14 +695,17 @@ bool CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
{
TypedConstraint* constraint = m_constraints[i];
const CollisionObject* colObj0 = &constraint->GetRigidBodyA();
const CollisionObject* colObj1 = &constraint->GetRigidBodyB();
const RigidBody* colObj0 = &constraint->GetRigidBodyA();
const RigidBody* colObj1 = &constraint->GetRigidBodyB();
if (((colObj0) && ((colObj0)->mergesSimulationIslands())) &&
((colObj1) && ((colObj1)->mergesSimulationIslands())))
{
GetDispatcher()->GetUnionFind().unite((colObj0)->m_islandTag1,
(colObj1)->m_islandTag1);
if (colObj0->IsActive() || colObj1->IsActive())
{
GetDispatcher()->GetUnionFind().unite((colObj0)->m_islandTag1,
(colObj1)->m_islandTag1);
}
}
}
}
@@ -863,7 +866,8 @@ bool CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
SimdTransform predictedTrans;
RigidBody* body = ctrl->GetRigidBody();
if (body->GetActivationState() != ISLAND_SLEEPING)
if (body->IsActive())
{
if (!body->IsStatic())
@@ -1698,9 +1702,27 @@ void CcdPhysicsEnvironment::UpdateAabbs(float timeStep)
}
}
scene->SetAabb(bp,minAabb,maxAabb);
if ( (maxAabb-minAabb).length2() < 1e12f)
{
scene->SetAabb(bp,minAabb,maxAabb);
} else
{
//something went wrong, investigate
//removeCcdPhysicsController(ctrl);
body->SetActivationState(DISABLE_SIMULATION);
static bool reportMe = true;
if (reportMe)
{
reportMe = false;
printf("Overflow in AABB, object removed from simulation \n");
printf("If you can reproduce this, please email bugs@continuousphysics.com\n");
printf("Please include above information, your Platform, version of OS.\n");
printf("Thanks.\n");
}
}
}
}