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add support for motion state and internal pre-tick callback

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This commit is contained in:
erwin coumans
2013-06-03 15:17:06 -07:00
parent 76b0d7697a
commit 31e0d0fd38
2 changed files with 66 additions and 41 deletions
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38
demos3/BasicGpuDemo/b3GpuDynamicsWorld.cpp
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@@ -18,7 +18,7 @@
#ifdef _WIN32 #ifdef _WIN32
#include <wiNdOws.h> #include <windows.h>
#endif #endif
@@ -42,7 +42,7 @@ b3GpuDynamicsWorld::~b3GpuDynamicsWorld()
int b3GpuDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, btScalar fixedTimeStep) int b3GpuDynamicsWorld::stepSimulation( btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep)
{ {
#ifndef BT_NO_PROFILE #ifndef BT_NO_PROFILE
CProfileManager::Reset(); CProfileManager::Reset();
@@ -62,6 +62,11 @@ int b3GpuDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, btSc
m_rigidBodyPipeline->writeAllInstancesToGpu(); m_rigidBodyPipeline->writeAllInstancesToGpu();
} }
// dispatch preTick callback
if(0 != m_internalPreTickCallback) {
(*m_internalPreTickCallback)(this, fixedTimeStep);
}
m_rigidBodyPipeline->stepSimulation(fixedTimeStep); m_rigidBodyPipeline->stepSimulation(fixedTimeStep);
{ {
@@ -71,7 +76,6 @@ int b3GpuDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, btSc
m_np->readbackAllBodiesToCpu(); m_np->readbackAllBodiesToCpu();
} }
{ {
BT_PROFILE("scatter transforms into rigidbody (CPU)"); BT_PROFILE("scatter transforms into rigidbody (CPU)");
for (int i=0;i<this->m_collisionObjects.size();i++) for (int i=0;i<this->m_collisionObjects.size();i++)
@@ -82,7 +86,14 @@ int b3GpuDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, btSc
btTransform newTrans; btTransform newTrans;
newTrans.setOrigin(pos); newTrans.setOrigin(pos);
newTrans.setRotation(orn); newTrans.setRotation(orn);
this->m_collisionObjects[i]->setWorldTransform(newTrans);
btCollisionObject* colObj = this->m_collisionObjects[i];
colObj->setWorldTransform(newTrans);
// synchronize motionstate
btRigidBody* body = btRigidBody::upcast(colObj);
if (body)
this->synchronizeSingleMotionState(body);
} }
} }
} }
@@ -120,7 +131,7 @@ int b3GpuDynamicsWorld::findOrRegisterCollisionShape(const btCollisionShape* col
for (int i=0;i<numVertices;i++) for (int i=0;i<numVertices;i++)
convex->getVertex(i,tmpVertices[i]); convex->getVertex(i,tmpVertices[i]);
const float scaling[4]={1,1,1,1}; const float scaling[4]={1,1,1,1};
bool noHeightField=true; //bool noHeightField=true;
int gpuShapeIndex = m_np->registerConvexHullShape(&tmpVertices[0].getX(), strideInBytes, numVertices, scaling); int gpuShapeIndex = m_np->registerConvexHullShape(&tmpVertices[0].getX(), strideInBytes, numVertices, scaling);
m_uniqueShapeMapping.push_back(gpuShapeIndex); m_uniqueShapeMapping.push_back(gpuShapeIndex);
@@ -190,7 +201,7 @@ int b3GpuDynamicsWorld::findOrRegisterCollisionShape(const btCollisionShape* col
//GraphicsShape* gfxShape = b3BulletDataExtractor::createGraphicsShapeFromConvexHull(&sUnitSpherePoints[0],MY_UNITSPHERE_POINTS); //GraphicsShape* gfxShape = b3BulletDataExtractor::createGraphicsShapeFromConvexHull(&sUnitSpherePoints[0],MY_UNITSPHERE_POINTS);
float meshScaling[4] = {1,1,1,1}; float meshScaling[4] = {1,1,1,1};
//int shapeIndex = renderer.registerShape(gfxShape->m_vertices,gfxShape->m_numvertices,gfxShape->m_indices,gfxShape->m_numIndices); //int shapeIndex = renderer.registerShape(gfxShape->m_vertices,gfxShape->m_numvertices,gfxShape->m_indices,gfxShape->m_numIndices);
float groundPos[4] = {0,0,0,0}; //float groundPos[4] = {0,0,0,0};
//renderer.registerGraphicsInstance(shapeIndex,groundPos,rotOrn,color,meshScaling); //renderer.registerGraphicsInstance(shapeIndex,groundPos,rotOrn,color,meshScaling);
if (vertices.size() && indices.size()) if (vertices.size() && indices.size())
@@ -278,7 +289,7 @@ int b3GpuDynamicsWorld::findOrRegisterCollisionShape(const btCollisionShape* col
void b3GpuDynamicsWorld::addRigidBody(btRigidBody* body) void b3GpuDynamicsWorld::addRigidBody(btRigidBody* body)
{ {
m_cpuGpuSync = true; m_cpuGpuSync = true;
body->setMotionState(0); //body->setMotionState(0);
int index = findOrRegisterCollisionShape(body->getCollisionShape()); int index = findOrRegisterCollisionShape(body->getCollisionShape());
@@ -308,3 +319,16 @@ void b3GpuDynamicsWorld::rayTest(const btVector3& rayFromWorld, const btVector3&
} }
void b3GpuDynamicsWorld::synchronizeSingleMotionState(btRigidBody* body)
{
btAssert(body);
if (body->getMotionState() && !body->isStaticOrKinematicObject())
{
//we need to call the update at least once, even for sleeping objects
//otherwise the 'graphics' transform never updates properly
const btTransform& centerOfMassWorldTrans = body->getWorldTransform();
body->getMotionState()->setWorldTransform(centerOfMassWorldTrans);
}
}

69
demos3/BasicGpuDemo/b3GpuDynamicsWorld.h
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@@ -64,50 +64,51 @@ public:
return m_gravity; return m_gravity;
} }
virtual void addRigidBody(btRigidBody* body, short group, short mask) virtual void addRigidBody(btRigidBody* body, short group, short mask)
{ {
addRigidBody(body); addRigidBody(body);
} }
virtual void removeRigidBody(btRigidBody* body) virtual void removeRigidBody(btRigidBody* body)
{ {
btAssert(0); btAssert(0);
} }
virtual void addAction(btActionInterface* action) virtual void addAction(btActionInterface* action)
{ {
btAssert(0); btAssert(0);
} }
virtual void removeAction(btActionInterface* action) virtual void removeAction(btActionInterface* action)
{ {
btAssert(0); btAssert(0);
} }
virtual void setConstraintSolver(btConstraintSolver* solver) virtual void setConstraintSolver(btConstraintSolver* solver)
{ {
btAssert(0); btAssert(0);
} }
virtual btConstraintSolver* getConstraintSolver() virtual btConstraintSolver* getConstraintSolver()
{ {
btAssert(0); btAssert(0);
return 0; return 0;
} }
virtual void clearForces() virtual void clearForces()
{ {
btAssert(0); btAssert(0);
} }
virtual btDynamicsWorldType getWorldType() const virtual btDynamicsWorldType getWorldType() const
{ {
return BT_GPU_DYNAMICS_WORLD; return BT_GPU_DYNAMICS_WORLD;
} }
///this can be useful to synchronize a single rigid body -> graphics object
void synchronizeSingleMotionState(btRigidBody* body);
}; };
#endif //B3_GPU_DYNAMICS_WORLD_H #endif //B3_GPU_DYNAMICS_WORLD_H