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small cleanup in the DemoApplication, removed references to obsolete PHY_ShapeProps/PHY_MaterialProps

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removed deletion of motionstate in CcdPhysics/CcdPhysicsController destructor
disabled m_type optimization in SimdTransform (making the memory size 64 byte, potentially more cache friendly)
fixed a bug in island generation, causing the activation not propagating in one frame, but one 'layer' of rigidbodies at a time
This commit is contained in:
ejcoumans
2006-09-26 18:59:29 +00:00
parent 0e04cfc806
commit 37a53ee7d9
8 changed files with 100 additions and 86 deletions
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41
Demos/OpenGL/DemoApplication.cpp
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@@ -612,43 +612,19 @@ CcdPhysicsController* DemoApplication::LocalCreatePhysicsObject(bool isDynamic,
startTransforms[numObjects] = startTransform;
PHY_ShapeProps shapeProps;
shapeProps.m_do_anisotropic = false;
shapeProps.m_do_fh = false;
shapeProps.m_do_rot_fh = false;
shapeProps.m_friction_scaling[0] = 1.;
shapeProps.m_friction_scaling[1] = 1.;
shapeProps.m_friction_scaling[2] = 1.;
shapeProps.m_inertia = 1.f;
shapeProps.m_lin_drag = 0.2f;
shapeProps.m_ang_drag = 0.1f;
shapeProps.m_mass = 10.0f;
PHY_MaterialProps materialProps;
materialProps.m_friction = 10.5f;
materialProps.m_restitution = 0.0f;
CcdConstructionInfo ccdObjectCi;
ccdObjectCi.m_friction = 0.5f;
ccdObjectCi.m_linearDamping = shapeProps.m_lin_drag;
ccdObjectCi.m_angularDamping = shapeProps.m_ang_drag;
SimdTransform tr;
tr.setIdentity();
int i = numObjects;
{
gShapePtr[i] = shape;
shapeProps.m_shape = gShapePtr[i];
shapeProps.m_shape->SetMargin(0.05f);
gShapePtr[i]->SetMargin(0.05f);
SimdQuaternion orn = startTransform.getRotation();
ms[i].setWorldOrientation(orn[0],orn[1],orn[2],orn[3]);
ms[i].setWorldPosition(startTransform.getOrigin().getX(),startTransform.getOrigin().getY(),startTransform.getOrigin().getZ());
@@ -657,25 +633,22 @@ CcdPhysicsController* DemoApplication::LocalCreatePhysicsObject(bool isDynamic,
ccdObjectCi.m_localInertiaTensor =SimdVector3(0,0,0);
if (!isDynamic)
{
shapeProps.m_mass = 0.f;
ccdObjectCi.m_mass = shapeProps.m_mass;
ccdObjectCi.m_mass = 0.f;
ccdObjectCi.m_collisionFlags = CollisionObject::isStatic;
ccdObjectCi.m_collisionFilterGroup = CcdConstructionInfo::StaticFilter;
ccdObjectCi.m_collisionFilterMask = CcdConstructionInfo::AllFilter ^ CcdConstructionInfo::StaticFilter;
}
else
{
shapeProps.m_mass = mass;
ccdObjectCi.m_mass = shapeProps.m_mass;
ccdObjectCi.m_mass = mass;
ccdObjectCi.m_collisionFlags = 0;
}
SimdVector3 localInertia(0.f,0.f,0.f);
if (isDynamic)
{
gShapePtr[i]->CalculateLocalInertia(shapeProps.m_mass,localInertia);
gShapePtr[i]->CalculateLocalInertia(ccdObjectCi.m_mass,localInertia);
}
ccdObjectCi.m_localInertiaTensor = localInertia;
@@ -727,11 +700,9 @@ void DemoApplication::renderme()
bool isSatEnabled = (getDebugMode() & IDebugDraw::DBG_EnableSatComparison);
m_physicsEnvironmentPtr->EnableSatCollisionDetection(isSatEnabled);
int numPhysicsObjects = m_physicsEnvironmentPtr->GetNumControllers();
int i;
@@ -772,7 +743,7 @@ void DemoApplication::renderme()
}
char extraDebug[125];
sprintf(extraDebug,"islId, Body=%i , %i",ctrl->GetRigidBody()->m_islandTag1,ctrl->GetRigidBody()->m_debugBodyId);
sprintf(extraDebug,"Island:%i, Body:%i",ctrl->GetRigidBody()->m_islandTag1,ctrl->GetRigidBody()->m_debugBodyId);
ctrl->GetRigidBody()->GetCollisionShape()->SetExtraDebugInfo(extraDebug);
float vec[16];