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add btCollisionWorld::updateSingleAabb see http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=3262

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Fix memory leak, see http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=3266
Change contact breaking threshold
Add 'needsResponse' test for CcdMotionClamping, see http://code.google.com/p/bullet/issues/detail?id=179
Updated user manual (needs lots more work)
Added autoexp.dat, enabled Microsoft Visual Studio debug visualization for btAlignedObjectArray and btVector3.
This commit is contained in:
erwin.coumans
2009-02-27 02:33:48 +00:00
parent 0066e41a92
commit 3548c01985
8 changed files with 132 additions and 49 deletions
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BIN
Bullet_User_Manual.pdf
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Binary file not shown.

66
msvc/autoexp_dat.txt Normal file
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@@ -0,0 +1,66 @@
;------------------------------------------------------------------------------
; Microsoft Visual Studio Debug Visualization for Bullet btVector3 and btAlignedObjectArray
;
; Copy and paste the contents of this file to the end of autoexp.dat, usually located at
; C:\Program Files\Microsoft Visual Studio 8\Common7\Packages\Debugger\autoexp.dat
;------------------------------------------------------------------------------
[Visualizer]
;------------------------------------------------------------------------------
; btVector3
;------------------------------------------------------------------------------
btVector3{
children
(
#array
(
expr : ($c.m_floats)[$i],
size : 4
)
)
preview
(
#(
"[",
#array
(
expr : ($c.m_floats)[$i],
size : 4
),
"]"
)
)
}
;------------------------------------------------------------------------------
; btAlignedObjectArray
;------------------------------------------------------------------------------
btAlignedObjectArray<*>{
children
(
#array
(
expr : ($c.m_data)[$i],
size : $c.m_size
)
)
preview
(
#(
"[",
$c.m_size ,
"](",
#array
(
expr : ($c.m_data)[$i],
size : $c.m_size
),
")"
)
)
}

5
src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
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@@ -79,7 +79,9 @@ btPersistentManifold* btCollisionDispatcher::getNewManifold(void* b0,void* b1)
btCollisionObject* body0 = (btCollisionObject*)b0;
btCollisionObject* body1 = (btCollisionObject*)b1;
btScalar contactBreakingThreshold = btMin(gContactBreakingThreshold,btMin(body0->getCollisionShape()->getContactBreakingThreshold(),body1->getCollisionShape()->getContactBreakingThreshold()));
//test for Bullet 2.74: use a relative contact breaking threshold without clamping against 'gContactBreakingThreshold'
//btScalar contactBreakingThreshold = btMin(gContactBreakingThreshold,btMin(body0->getCollisionShape()->getContactBreakingThreshold(),body1->getCollisionShape()->getContactBreakingThreshold()));
btScalar contactBreakingThreshold = btMin(body0->getCollisionShape()->getContactBreakingThreshold(),body1->getCollisionShape()->getContactBreakingThreshold());
void* mem = 0;
@@ -146,7 +148,6 @@ btCollisionAlgorithm* btCollisionDispatcher::findAlgorithm(btCollisionObject* bo
bool btCollisionDispatcher::needsResponse(btCollisionObject* body0,btCollisionObject* body1)
{
//here you can do filtering

64
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -119,6 +119,39 @@ void btCollisionWorld::addCollisionObject(btCollisionObject* collisionObject,sho
void btCollisionWorld::updateSingleAabb(btCollisionObject* colObj)
{
btVector3 minAabb,maxAabb;
colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
//need to increase the aabb for contact thresholds
btVector3 contactThreshold(gContactBreakingThreshold,gContactBreakingThreshold,gContactBreakingThreshold);
minAabb -= contactThreshold;
maxAabb += contactThreshold;
btBroadphaseInterface* bp = (btBroadphaseInterface*)m_broadphasePairCache;
//moving objects should be moderately sized, probably something wrong if not
if ( colObj->isStaticObject() || ((maxAabb-minAabb).length2() < btScalar(1e12)))
{
bp->setAabb(colObj->getBroadphaseHandle(),minAabb,maxAabb, m_dispatcher1);
} else
{
//something went wrong, investigate
//this assert is unwanted in 3D modelers (danger of loosing work)
colObj->setActivationState(DISABLE_SIMULATION);
static bool reportMe = true;
if (reportMe && m_debugDrawer)
{
reportMe = false;
m_debugDrawer->reportErrorWarning("Overflow in AABB, object removed from simulation");
m_debugDrawer->reportErrorWarning("If you can reproduce this, please email bugs@continuousphysics.com\n");
m_debugDrawer->reportErrorWarning("Please include above information, your Platform, version of OS.\n");
m_debugDrawer->reportErrorWarning("Thanks.\n");
}
}
}
void btCollisionWorld::updateAabbs()
{
BT_PROFILE("updateAabbs");
@@ -131,38 +164,9 @@ void btCollisionWorld::updateAabbs()
//only update aabb of active objects
if (colObj->isActive())
{
btVector3 minAabb,maxAabb;
colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
//need to increase the aabb for contact thresholds
btVector3 contactThreshold(gContactBreakingThreshold,gContactBreakingThreshold,gContactBreakingThreshold);
minAabb -= contactThreshold;
maxAabb += contactThreshold;
btBroadphaseInterface* bp = (btBroadphaseInterface*)m_broadphasePairCache;
//moving objects should be moderately sized, probably something wrong if not
if ( colObj->isStaticObject() || ((maxAabb-minAabb).length2() < btScalar(1e12)))
{
bp->setAabb(colObj->getBroadphaseHandle(),minAabb,maxAabb, m_dispatcher1);
} else
{
//something went wrong, investigate
//this assert is unwanted in 3D modelers (danger of loosing work)
colObj->setActivationState(DISABLE_SIMULATION);
static bool reportMe = true;
if (reportMe && m_debugDrawer)
{
reportMe = false;
m_debugDrawer->reportErrorWarning("Overflow in AABB, object removed from simulation");
m_debugDrawer->reportErrorWarning("If you can reproduce this, please email bugs@continuousphysics.com\n");
m_debugDrawer->reportErrorWarning("Please include above information, your Platform, version of OS.\n");
m_debugDrawer->reportErrorWarning("Thanks.\n");
}
}
updateSingleAabb(colObj);
}
}
}

3
src/BulletCollision/CollisionDispatch/btCollisionWorld.h
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@@ -133,8 +133,9 @@ public:
return m_dispatcher1;
}
virtual void updateAabbs();
void updateSingleAabb(btCollisionObject* colObj);
virtual void updateAabbs();
virtual void setDebugDrawer(btIDebugDraw* debugDrawer)
{

1
src/BulletCollision/CollisionDispatch/btGhostObject.cpp
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@@ -63,6 +63,7 @@ btPairCachingGhostObject::btPairCachingGhostObject()
btPairCachingGhostObject::~btPairCachingGhostObject()
{
m_hashPairCache->~btHashedOverlappingPairCache();
btAlignedFree( m_hashPairCache );
}

6
src/BulletCollision/CollisionShapes/btCollisionShape.cpp
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@@ -16,6 +16,9 @@ subject to the following restrictions:
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
btScalar gContactThresholdFactor=btScalar(0.02);
/*
Make sure this dummy function never changes so that it
can be used by probes that are checking whether the
@@ -44,8 +47,7 @@ void btCollisionShape::getBoundingSphere(btVector3& center,btScalar& radius) con
btScalar btCollisionShape::getContactBreakingThreshold() const
{
///@todo make this 0.1 configurable
return getAngularMotionDisc() * btScalar(0.1);
return getAngularMotionDisc() * gContactThresholdFactor;
}
btScalar btCollisionShape::getAngularMotionDisc() const
{

36
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -779,14 +779,16 @@ class btClosestNotMeConvexResultCallback : public btCollisionWorld::ClosestConve
btCollisionObject* m_me;
btScalar m_allowedPenetration;
btOverlappingPairCache* m_pairCache;
btDispatcher* m_dispatcher;
public:
btClosestNotMeConvexResultCallback (btCollisionObject* me,const btVector3& fromA,const btVector3& toA,btOverlappingPairCache* pairCache) :
btClosestNotMeConvexResultCallback (btCollisionObject* me,const btVector3& fromA,const btVector3& toA,btOverlappingPairCache* pairCache,btDispatcher* dispatcher) :
btCollisionWorld::ClosestConvexResultCallback(fromA,toA),
m_allowedPenetration(0.0f),
m_me(me),
m_pairCache(pairCache)
m_pairCache(pairCache),
m_dispatcher(dispatcher)
{
}
@@ -821,20 +823,26 @@ public:
if (!ClosestConvexResultCallback::needsCollision(proxy0))
return false;
///don't do CCD when there are already contact points (touching contact/penetration)
btAlignedObjectArray<btPersistentManifold*> manifoldArray;
btBroadphasePair* collisionPair = m_pairCache->findPair(m_me->getBroadphaseHandle(),proxy0);
if (collisionPair)
btCollisionObject* otherObj = (btCollisionObject*) proxy0->m_clientObject;
//call needsResponse, see http://code.google.com/p/bullet/issues/detail?id=179
if (m_dispatcher->needsResponse(m_me,otherObj))
{
if (collisionPair->m_algorithm)
///don't do CCD when there are already contact points (touching contact/penetration)
btAlignedObjectArray<btPersistentManifold*> manifoldArray;
btBroadphasePair* collisionPair = m_pairCache->findPair(m_me->getBroadphaseHandle(),proxy0);
if (collisionPair)
{
manifoldArray.resize(0);
collisionPair->m_algorithm->getAllContactManifolds(manifoldArray);
for (int j=0;j<manifoldArray.size();j++)
if (collisionPair->m_algorithm)
{
btPersistentManifold* manifold = manifoldArray[j];
if (manifold->getNumContacts()>0)
return false;
manifoldArray.resize(0);
collisionPair->m_algorithm->getAllContactManifolds(manifoldArray);
for (int j=0;j<manifoldArray.size();j++)
{
btPersistentManifold* manifold = manifoldArray[j];
if (manifold->getNumContacts()>0)
return false;
}
}
}
}
@@ -872,7 +880,7 @@ void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
{
gNumClampedCcdMotions++;
btClosestNotMeConvexResultCallback sweepResults(body,body->getWorldTransform().getOrigin(),predictedTrans.getOrigin(),getBroadphase()->getOverlappingPairCache());
btClosestNotMeConvexResultCallback sweepResults(body,body->getWorldTransform().getOrigin(),predictedTrans.getOrigin(),getBroadphase()->getOverlappingPairCache(),getDispatcher());
btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
btSphereShape tmpSphere(body->getCcdSweptSphereRadius());//btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());