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Cleaned up/simplified construction of a btRigidBody

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Fixed memoryleak in btOptimizedBvh (delete []m_contiguousNodes;)
Changed DemoApplication::localCreateRigidBody, so it adds the rigidbody to the btDynamicsWorld.
Added check for duplicate objects in world when adding.
Added assert to prevent setLinearVelocity on static rigidbodies
Added btCollisionFilterGroups to btBroadphaseProxy
removed duplicate 'btBroadphaseProxy*	m_broadphaseProxy;' in btRigidBody
This commit is contained in:
ejcoumans
2006-10-04 23:46:27 +00:00
parent d85ecfe5c2
commit 323a1046fd
18 changed files with 96 additions and 59 deletions
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2
src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp
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@@ -18,7 +18,7 @@ subject to the following restrictions:
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "BulletDynamics/Dynamics/btMassProps.h"
static btRigidBody s_fixed(btMassProps(0,btVector3(0.f,0.f,0.f)),0.f,0.f,1.f,1.f);
static btRigidBody s_fixed(0, btTransform::getIdentity(),0);
btTypedConstraint::btTypedConstraint()
: m_userConstraintType(-1),

13
src/BulletDynamics/Dynamics/btRigidBody.cpp
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@@ -28,7 +28,7 @@ float gLinearSleepingTreshold = 0.8f;
float gAngularSleepingTreshold = 1.0f;
static int uniqueId = 0;
btRigidBody::btRigidBody( const btMassProps& massProps,btScalar linearDamping,btScalar angularDamping,btScalar friction,btScalar restitution)
btRigidBody::btRigidBody( float mass,const btTransform& worldTransform,btCollisionShape* collisionShape,const btVector3& localInertia,btScalar linearDamping,btScalar angularDamping,btScalar friction,btScalar restitution)
:
m_gravity(0.0f, 0.0f, 0.0f),
m_totalForce(0.0f, 0.0f, 0.0f),
@@ -42,18 +42,23 @@ btRigidBody::btRigidBody( const btMassProps& massProps,btScalar linearDamping,bt
m_frictionSolverType(0)
{
if (mass == 0.f)
m_collisionFlags = btCollisionObject::isStatic;
m_worldTransform = worldTransform;
//moved to btCollisionObject
m_friction = friction;
m_restitution = restitution;
m_collisionShape = collisionShape;
m_debugBodyId = uniqueId++;
//m_internalOwner is to allow upcasting from collision object to rigid body
m_internalOwner = this;
setMassProps(massProps.m_mass, massProps.m_inertiaLocal);
setMassProps(mass, localInertia);
setDamping(linearDamping, angularDamping);
m_worldTransform.setIdentity();
updateInertiaTensor();
}
@@ -61,7 +66,7 @@ btRigidBody::btRigidBody( const btMassProps& massProps,btScalar linearDamping,bt
void btRigidBody::setLinearVelocity(const btVector3& lin_vel)
{
assert (m_collisionFlags != btCollisionObject::isStatic);
m_linearVelocity = lin_vel;
}

12
src/BulletDynamics/Dynamics/btRigidBody.h
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@@ -57,11 +57,9 @@ class btRigidBody : public btCollisionObject
btScalar m_kinematicTimeStep;
btBroadphaseProxy* m_broadphaseProxy;
public:
btRigidBody(const btMassProps& massProps,btScalar linearDamping=0.f,btScalar angularDamping=0.f,btScalar friction=0.5f,btScalar restitution=0.f);
btRigidBody(float mass, const btTransform& worldTransform, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0),btScalar linearDamping=0.f,btScalar angularDamping=0.f,btScalar friction=0.5f,btScalar restitution=0.f);
void proceedToTransform(const btTransform& newTrans);
@@ -266,15 +264,15 @@ public:
const btBroadphaseProxy* getBroadphaseProxy() const
{
return m_broadphaseProxy;
return m_broadphaseHandle;
}
btBroadphaseProxy* getBroadphaseProxy()
{
return m_broadphaseProxy;
return m_broadphaseHandle;
}
void setBroadphaseProxy(btBroadphaseProxy* broadphaseProxy)
void setNewBroadphaseProxy(btBroadphaseProxy* broadphaseProxy)
{
m_broadphaseProxy = broadphaseProxy;
m_broadphaseHandle = broadphaseProxy;
}
//for experimental overriding of friction/contact solver func

2
src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
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@@ -23,7 +23,7 @@
static btRigidBody s_fixedObject( btMassProps ( 0.0f, btVector3(0,0,0) ),0.f,0.f,0.f,0.f);
static btRigidBody s_fixedObject( 0,btTransform(btQuaternion(0,0,0,1)),0);
btRaycastVehicle::btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis, btVehicleRaycaster* raycaster )
:m_vehicleRaycaster(raycaster),