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Iterate only over non-static rigid bodies, instead of all collision objects

Browse Source 
http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=18&t=3625
http://code.google.com/p/bullet/issues/detail?id=128

Attempt to fix issue in mesh striding, multiple-mesh-parts were broken.
This commit is contained in:
erwin.coumans
2009-06-11 01:25:10 +00:00
parent 659272685b
commit 3e5fc86a6c
3 changed files with 180 additions and 190 deletions
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222
src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp
View File

@@ -23,127 +23,123 @@ btStridingMeshInterface::~btStridingMeshInterface()
void btStridingMeshInterface::InternalProcessAllTriangles(btInternalTriangleIndexCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const void btStridingMeshInterface::InternalProcessAllTriangles(btInternalTriangleIndexCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
{ {
(void)aabbMin; (void)aabbMin;
(void)aabbMax; (void)aabbMax;
int numtotalphysicsverts = 0; int numtotalphysicsverts = 0;
int part,graphicssubparts = getNumSubParts(); int part,graphicssubparts = getNumSubParts();
const unsigned char * vertexbase; const unsigned char * vertexbase;
const unsigned char * indexbase; const unsigned char * indexbase;
int indexstride; int indexstride;
PHY_ScalarType type; PHY_ScalarType type;
PHY_ScalarType gfxindextype; PHY_ScalarType gfxindextype;
int stride,numverts,numtriangles; int stride,numverts,numtriangles;
int gfxindex; int gfxindex;
btVector3 triangle[3]; btVector3 triangle[3];
btVector3 meshScaling = getScaling(); btVector3 meshScaling = getScaling();
///if the number of parts is big, the performance might drop due to the innerloop switch on indextype ///if the number of parts is big, the performance might drop due to the innerloop switch on indextype
for (part=0;part<graphicssubparts ;part++) for (part=0;part<graphicssubparts ;part++)
{ {
getLockedReadOnlyVertexIndexBase(&vertexbase,numverts,type,stride,&indexbase,indexstride,numtriangles,gfxindextype,part); getLockedReadOnlyVertexIndexBase(&vertexbase,numverts,type,stride,&indexbase,indexstride,numtriangles,gfxindextype,part);
numtotalphysicsverts+=numtriangles*3; //upper bound numtotalphysicsverts+=numtriangles*3; //upper bound
///unlike that developers want to pass in double-precision meshes in single-precision Bullet build ///unlike that developers want to pass in double-precision meshes in single-precision Bullet build
///so disable this feature by default ///so disable this feature by default
///see patch http://code.google.com/p/bullet/issues/detail?id=213 ///see patch http://code.google.com/p/bullet/issues/detail?id=213
#ifdef BT_USE_DOUBLE_PRECISION switch (type)
switch (type) {
{ case PHY_FLOAT:
case PHY_FLOAT:
#endif
{ {
float* graphicsbase; float* graphicsbase;
switch (gfxindextype)
{
case PHY_INTEGER:
{
for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
{
unsigned int* tri_indices= (unsigned int*)(indexbase+gfxindex*indexstride);
graphicsbase = (float*)(vertexbase+tri_indices[0]*stride);
triangle[0].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
graphicsbase = (float*)(vertexbase+tri_indices[1]*stride);
triangle[1].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
graphicsbase = (float*)(vertexbase+tri_indices[2]*stride);
triangle[2].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
callback->internalProcessTriangleIndex(triangle,part,gfxindex);
}
break;
}
case PHY_SHORT:
{
for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
{
unsigned short int* tri_indices= (unsigned short int*)(indexbase+gfxindex*indexstride);
graphicsbase = (float*)(vertexbase+tri_indices[0]*stride);
triangle[0].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
graphicsbase = (float*)(vertexbase+tri_indices[1]*stride);
triangle[1].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
graphicsbase = (float*)(vertexbase+tri_indices[2]*stride);
triangle[2].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
callback->internalProcessTriangleIndex(triangle,part,gfxindex);
}
break;
}
default:
btAssert((gfxindextype == PHY_INTEGER) || (gfxindextype == PHY_SHORT));
}
break;
}
#ifdef BT_USE_DOUBLE_PRECISION switch (gfxindextype)
case PHY_DOUBLE: {
{ case PHY_INTEGER:
double* graphicsbase; {
for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
{
unsigned int* tri_indices= (unsigned int*)(indexbase+gfxindex*indexstride);
graphicsbase = (float*)(vertexbase+tri_indices[0]*stride);
triangle[0].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
graphicsbase = (float*)(vertexbase+tri_indices[1]*stride);
triangle[1].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
graphicsbase = (float*)(vertexbase+tri_indices[2]*stride);
triangle[2].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
callback->internalProcessTriangleIndex(triangle,part,gfxindex);
}
break;
}
case PHY_SHORT:
{
for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
{
unsigned short int* tri_indices= (unsigned short int*)(indexbase+gfxindex*indexstride);
graphicsbase = (float*)(vertexbase+tri_indices[0]*stride);
triangle[0].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
graphicsbase = (float*)(vertexbase+tri_indices[1]*stride);
triangle[1].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
graphicsbase = (float*)(vertexbase+tri_indices[2]*stride);
triangle[2].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
callback->internalProcessTriangleIndex(triangle,part,gfxindex);
}
break;
}
default:
btAssert((gfxindextype == PHY_INTEGER) || (gfxindextype == PHY_SHORT));
}
break;
}
switch (gfxindextype) case PHY_DOUBLE:
{ {
case PHY_INTEGER: double* graphicsbase;
{
for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
{
unsigned int* tri_indices= (unsigned int*)(indexbase+gfxindex*indexstride);
graphicsbase = (double*)(vertexbase+tri_indices[0]*stride);
triangle[0].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(),(btScalar)graphicsbase[2]*meshScaling.getZ());
graphicsbase = (double*)(vertexbase+tri_indices[1]*stride);
triangle[1].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ());
graphicsbase = (double*)(vertexbase+tri_indices[2]*stride);
triangle[2].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ());
callback->internalProcessTriangleIndex(triangle,part,gfxindex);
}
break;
}
case PHY_SHORT:
{
for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
{
unsigned short int* tri_indices= (unsigned short int*)(indexbase+gfxindex*indexstride);
graphicsbase = (double*)(vertexbase+tri_indices[0]*stride);
triangle[0].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(),(btScalar)graphicsbase[2]*meshScaling.getZ());
graphicsbase = (double*)(vertexbase+tri_indices[1]*stride);
triangle[1].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ());
graphicsbase = (double*)(vertexbase+tri_indices[2]*stride);
triangle[2].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ());
callback->internalProcessTriangleIndex(triangle,part,gfxindex);
}
break;
}
default:
btAssert((gfxindextype == PHY_INTEGER) || (gfxindextype == PHY_SHORT));
}
break;
}
default:
btAssert((type == PHY_FLOAT) || (type == PHY_DOUBLE));
}
#endif //BT_USE_DOUBLE_PRECISION
unLockReadOnlyVertexBase(part); switch (gfxindextype)
} {
case PHY_INTEGER:
{
for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
{
unsigned int* tri_indices= (unsigned int*)(indexbase+gfxindex*indexstride);
graphicsbase = (double*)(vertexbase+tri_indices[0]*stride);
triangle[0].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(),(btScalar)graphicsbase[2]*meshScaling.getZ());
graphicsbase = (double*)(vertexbase+tri_indices[1]*stride);
triangle[1].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ());
graphicsbase = (double*)(vertexbase+tri_indices[2]*stride);
triangle[2].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ());
callback->internalProcessTriangleIndex(triangle,part,gfxindex);
}
break;
}
case PHY_SHORT:
{
for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
{
unsigned short int* tri_indices= (unsigned short int*)(indexbase+gfxindex*indexstride);
graphicsbase = (double*)(vertexbase+tri_indices[0]*stride);
triangle[0].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(),(btScalar)graphicsbase[2]*meshScaling.getZ());
graphicsbase = (double*)(vertexbase+tri_indices[1]*stride);
triangle[1].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ());
graphicsbase = (double*)(vertexbase+tri_indices[2]*stride);
triangle[2].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ());
callback->internalProcessTriangleIndex(triangle,part,gfxindex);
}
break;
}
default:
btAssert((gfxindextype == PHY_INTEGER) || (gfxindextype == PHY_SHORT));
}
break;
}
default:
btAssert((type == PHY_FLOAT) || (type == PHY_DOUBLE));
}
unLockReadOnlyVertexBase(part);
}
} }
void btStridingMeshInterface::calculateAabbBruteForce(btVector3& aabbMin,btVector3& aabbMax) void btStridingMeshInterface::calculateAabbBruteForce(btVector3& aabbMin,btVector3& aabbMax)
@@ -174,7 +170,7 @@ void btStridingMeshInterface::calculateAabbBruteForce(btVector3& aabbMin,btVecto
} }
}; };
//first calculate the total aabb for all triangles //first calculate the total aabb for all triangles
AabbCalculationCallback aabbCallback; AabbCalculationCallback aabbCallback;
aabbMin.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT)); aabbMin.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
aabbMax.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)); aabbMax.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));

146
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
View File

@@ -103,23 +103,23 @@ btDiscreteDynamicsWorld::~btDiscreteDynamicsWorld()
void btDiscreteDynamicsWorld::saveKinematicState(btScalar timeStep) void btDiscreteDynamicsWorld::saveKinematicState(btScalar timeStep)
{ {
///would like to iterate over m_nonStaticRigidBodies, but unfortunately old API allows
///to switch status _after_ adding kinematic objects to the world
///fix it for Bullet 3.x release
for (int i=0;i<m_collisionObjects.size();i++) for (int i=0;i<m_collisionObjects.size();i++)
{ {
btCollisionObject* colObj = m_collisionObjects[i]; btCollisionObject* colObj = m_collisionObjects[i];
btRigidBody* body = btRigidBody::upcast(colObj); btRigidBody* body = btRigidBody::upcast(colObj);
if (body) if (body && body->getActivationState() != ISLAND_SLEEPING)
{ {
if (body->getActivationState() != ISLAND_SLEEPING) if (body->isKinematicObject())
{ {
if (body->isKinematicObject()) //to calculate velocities next frame
{ body->saveKinematicState(timeStep);
//to calculate velocities next frame }
body->saveKinematicState(timeStep);
}
}
} }
} }
} }
void btDiscreteDynamicsWorld::debugDrawWorld() void btDiscreteDynamicsWorld::debugDrawWorld()
@@ -217,15 +217,12 @@ void btDiscreteDynamicsWorld::debugDrawWorld()
void btDiscreteDynamicsWorld::clearForces() void btDiscreteDynamicsWorld::clearForces()
{ {
///@todo: iterate over awake simulation islands! ///@todo: iterate over awake simulation islands!
for ( int i=0;i<m_collisionObjects.size();i++) for ( int i=0;i<m_nonStaticRigidBodies.size();i++)
{ {
btCollisionObject* colObj = m_collisionObjects[i]; btRigidBody* body = m_nonStaticRigidBodies[i];
//need to check if next line is ok
btRigidBody* body = btRigidBody::upcast(colObj); //it might break backward compatibility (people applying forces on sleeping objects get never cleared and accumulate on wake-up
if (body) body->clearForces();
{
body->clearForces();
}
} }
} }
@@ -233,12 +230,10 @@ void btDiscreteDynamicsWorld::clearForces()
void btDiscreteDynamicsWorld::applyGravity() void btDiscreteDynamicsWorld::applyGravity()
{ {
///@todo: iterate over awake simulation islands! ///@todo: iterate over awake simulation islands!
for ( int i=0;i<m_collisionObjects.size();i++) for ( int i=0;i<m_nonStaticRigidBodies.size();i++)
{ {
btCollisionObject* colObj = m_collisionObjects[i]; btRigidBody* body = m_nonStaticRigidBodies[i];
if (body->isActive())
btRigidBody* body = btRigidBody::upcast(colObj);
if (body && body->isActive())
{ {
body->applyGravity(); body->applyGravity();
} }
@@ -271,12 +266,10 @@ void btDiscreteDynamicsWorld::synchronizeMotionStates()
BT_PROFILE("synchronizeMotionStates"); BT_PROFILE("synchronizeMotionStates");
{ {
//todo: iterate over awake simulation islands! //todo: iterate over awake simulation islands!
for ( int i=0;i<m_collisionObjects.size();i++) for ( int i=0;i<m_nonStaticRigidBodies.size();i++)
{ {
btCollisionObject* colObj = m_collisionObjects[i]; btRigidBody* body = m_nonStaticRigidBodies[i];
if (body->isActive())
btRigidBody* body = btRigidBody::upcast(colObj);
if (body)
synchronizeSingleMotionState(body); synchronizeSingleMotionState(body);
} }
} }
@@ -411,11 +404,10 @@ void btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
void btDiscreteDynamicsWorld::setGravity(const btVector3& gravity) void btDiscreteDynamicsWorld::setGravity(const btVector3& gravity)
{ {
m_gravity = gravity; m_gravity = gravity;
for ( int i=0;i<m_collisionObjects.size();i++) for ( int i=0;i<m_nonStaticRigidBodies.size();i++)
{ {
btCollisionObject* colObj = m_collisionObjects[i]; btRigidBody* body = m_nonStaticRigidBodies[i];
btRigidBody* body = btRigidBody::upcast(colObj); if (body->isActive())
if (body)
{ {
body->setGravity(gravity); body->setGravity(gravity);
} }
@@ -430,6 +422,7 @@ btVector3 btDiscreteDynamicsWorld::getGravity () const
void btDiscreteDynamicsWorld::removeRigidBody(btRigidBody* body) void btDiscreteDynamicsWorld::removeRigidBody(btRigidBody* body)
{ {
m_nonStaticRigidBodies.remove(body);
removeCollisionObject(body); removeCollisionObject(body);
} }
@@ -442,6 +435,11 @@ void btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body)
if (body->getCollisionShape()) if (body->getCollisionShape())
{ {
if (!body->isStaticObject())
{
m_nonStaticRigidBodies.push_back(body);
}
bool isDynamic = !(body->isStaticObject() || body->isKinematicObject()); bool isDynamic = !(body->isStaticObject() || body->isKinematicObject());
short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter); short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
short collisionFilterMask = isDynamic? short(btBroadphaseProxy::AllFilter) : short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter); short collisionFilterMask = isDynamic? short(btBroadphaseProxy::AllFilter) : short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
@@ -459,6 +457,10 @@ void btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body, short group, short
if (body->getCollisionShape()) if (body->getCollisionShape())
{ {
if (!body->isStaticObject())
{
m_nonStaticRigidBodies.push_back(body);
}
addCollisionObject(body,group,mask); addCollisionObject(body,group,mask);
} }
} }
@@ -479,10 +481,9 @@ void btDiscreteDynamicsWorld::updateActivationState(btScalar timeStep)
{ {
BT_PROFILE("updateActivationState"); BT_PROFILE("updateActivationState");
for ( int i=0;i<m_collisionObjects.size();i++) for ( int i=0;i<m_nonStaticRigidBodies.size();i++)
{ {
btCollisionObject* colObj = m_collisionObjects[i]; btRigidBody* body = m_nonStaticRigidBodies[i];
btRigidBody* body = btRigidBody::upcast(colObj);
if (body) if (body)
{ {
body->updateDeactivation(timeStep); body->updateDeactivation(timeStep);
@@ -828,46 +829,42 @@ void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
{ {
BT_PROFILE("integrateTransforms"); BT_PROFILE("integrateTransforms");
btTransform predictedTrans; btTransform predictedTrans;
for ( int i=0;i<m_collisionObjects.size();i++) for ( int i=0;i<m_nonStaticRigidBodies.size();i++)
{ {
btCollisionObject* colObj = m_collisionObjects[i]; btRigidBody* body = m_nonStaticRigidBodies[i];
btRigidBody* body = btRigidBody::upcast(colObj); body->setHitFraction(1.f);
if (body)
if (body->isActive() && (!body->isStaticOrKinematicObject()))
{ {
body->setHitFraction(1.f); body->predictIntegratedTransform(timeStep, predictedTrans);
btScalar squareMotion = (predictedTrans.getOrigin()-body->getWorldTransform().getOrigin()).length2();
if (body->isActive() && (!body->isStaticOrKinematicObject())) if (body->getCcdSquareMotionThreshold() && body->getCcdSquareMotionThreshold() < squareMotion)
{ {
body->predictIntegratedTransform(timeStep, predictedTrans); BT_PROFILE("CCD motion clamping");
btScalar squareMotion = (predictedTrans.getOrigin()-body->getWorldTransform().getOrigin()).length2(); if (body->getCollisionShape()->isConvex())
if (body->getCcdSquareMotionThreshold() && body->getCcdSquareMotionThreshold() < squareMotion)
{ {
BT_PROFILE("CCD motion clamping"); gNumClampedCcdMotions++;
if (body->getCollisionShape()->isConvex())
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());
sweepResults.m_collisionFilterGroup = body->getBroadphaseProxy()->m_collisionFilterGroup;
sweepResults.m_collisionFilterMask = body->getBroadphaseProxy()->m_collisionFilterMask;
convexSweepTest(&tmpSphere,body->getWorldTransform(),predictedTrans,sweepResults);
if (sweepResults.hasHit() && (sweepResults.m_closestHitFraction < 1.f))
{ {
gNumClampedCcdMotions++; body->setHitFraction(sweepResults.m_closestHitFraction);
body->predictIntegratedTransform(timeStep*body->getHitFraction(), predictedTrans);
btClosestNotMeConvexResultCallback sweepResults(body,body->getWorldTransform().getOrigin(),predictedTrans.getOrigin(),getBroadphase()->getOverlappingPairCache(),getDispatcher()); body->setHitFraction(0.f);
btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
btSphereShape tmpSphere(body->getCcdSweptSphereRadius());//btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
sweepResults.m_collisionFilterGroup = body->getBroadphaseProxy()->m_collisionFilterGroup;
sweepResults.m_collisionFilterMask = body->getBroadphaseProxy()->m_collisionFilterMask;
convexSweepTest(&tmpSphere,body->getWorldTransform(),predictedTrans,sweepResults);
if (sweepResults.hasHit() && (sweepResults.m_closestHitFraction < 1.f))
{
body->setHitFraction(sweepResults.m_closestHitFraction);
body->predictIntegratedTransform(timeStep*body->getHitFraction(), predictedTrans);
body->setHitFraction(0.f);
// printf("clamped integration to hit fraction = %f\n",fraction); // printf("clamped integration to hit fraction = %f\n",fraction);
}
} }
} }
body->proceedToTransform( predictedTrans);
} }
body->proceedToTransform( predictedTrans);
} }
} }
} }
@@ -879,21 +876,16 @@ void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
void btDiscreteDynamicsWorld::predictUnconstraintMotion(btScalar timeStep) void btDiscreteDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
{ {
BT_PROFILE("predictUnconstraintMotion"); BT_PROFILE("predictUnconstraintMotion");
for ( int i=0;i<m_collisionObjects.size();i++) for ( int i=0;i<m_nonStaticRigidBodies.size();i++)
{ {
btCollisionObject* colObj = m_collisionObjects[i]; btRigidBody* body = m_nonStaticRigidBodies[i];
btRigidBody* body = btRigidBody::upcast(colObj); if (!body->isStaticOrKinematicObject())
if (body)
{ {
if (!body->isStaticOrKinematicObject()) body->integrateVelocities( timeStep);
{ //damping
body->applyDamping(timeStep);
body->integrateVelocities( timeStep);
//damping
body->applyDamping(timeStep);
body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform()); body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform());
}
} }
} }
} }

2
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
View File

@@ -42,6 +42,8 @@ protected:
btAlignedObjectArray<btTypedConstraint*> m_constraints; btAlignedObjectArray<btTypedConstraint*> m_constraints;
btAlignedObjectArray<btRigidBody*> m_nonStaticRigidBodies;
btVector3 m_gravity; btVector3 m_gravity;
//for variable timesteps //for variable timesteps