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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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10
src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp
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@@ -44,15 +44,13 @@ void btStridingMeshInterface::InternalProcessAllTriangles(btInternalTriangleInde
getLockedReadOnlyVertexIndexBase(&vertexbase,numverts,type,stride,&indexbase,indexstride,numtriangles,gfxindextype,part);
numtotalphysicsverts+=numtriangles*3; //upper bound
///unlike that developers want to pass in double-precision meshes in single-precision Bullet build
///so disable this feature by default
///see patch http://code.google.com/p/bullet/issues/detail?id=213
///unlike that developers want to pass in double-precision meshes in single-precision Bullet build
///so disable this feature by default
///see patch http://code.google.com/p/bullet/issues/detail?id=213
#ifdef BT_USE_DOUBLE_PRECISION
switch (type)
{
case PHY_FLOAT:
#endif
{
float* graphicsbase;
@@ -95,7 +93,6 @@ void btStridingMeshInterface::InternalProcessAllTriangles(btInternalTriangleInde
break;
}
#ifdef BT_USE_DOUBLE_PRECISION
case PHY_DOUBLE:
{
double* graphicsbase;
@@ -140,7 +137,6 @@ void btStridingMeshInterface::InternalProcessAllTriangles(btInternalTriangleInde
default:
btAssert((type == PHY_FLOAT) || (type == PHY_DOUBLE));
}
#endif //BT_USE_DOUBLE_PRECISION
unLockReadOnlyVertexBase(part);
}

76
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -103,14 +103,14 @@ btDiscreteDynamicsWorld::~btDiscreteDynamicsWorld()
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++)
{
btCollisionObject* colObj = m_collisionObjects[i];
btRigidBody* body = btRigidBody::upcast(colObj);
if (body)
{
if (body->getActivationState() != ISLAND_SLEEPING)
if (body && body->getActivationState() != ISLAND_SLEEPING)
{
if (body->isKinematicObject())
{
@@ -119,7 +119,7 @@ void btDiscreteDynamicsWorld::saveKinematicState(btScalar timeStep)
}
}
}
}
}
void btDiscreteDynamicsWorld::debugDrawWorld()
@@ -217,28 +217,23 @@ void btDiscreteDynamicsWorld::debugDrawWorld()
void btDiscreteDynamicsWorld::clearForces()
{
///@todo: iterate over awake simulation islands!
for ( int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
btRigidBody* body = btRigidBody::upcast(colObj);
if (body)
for ( int i=0;i<m_nonStaticRigidBodies.size();i++)
{
btRigidBody* body = m_nonStaticRigidBodies[i];
//need to check if next line is ok
//it might break backward compatibility (people applying forces on sleeping objects get never cleared and accumulate on wake-up
body->clearForces();
}
}
}
///apply gravity, call this once per timestep
void btDiscreteDynamicsWorld::applyGravity()
{
///@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 = btRigidBody::upcast(colObj);
if (body && body->isActive())
btRigidBody* body = m_nonStaticRigidBodies[i];
if (body->isActive())
{
body->applyGravity();
}
@@ -271,12 +266,10 @@ void btDiscreteDynamicsWorld::synchronizeMotionStates()
BT_PROFILE("synchronizeMotionStates");
{
//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 = btRigidBody::upcast(colObj);
if (body)
btRigidBody* body = m_nonStaticRigidBodies[i];
if (body->isActive())
synchronizeSingleMotionState(body);
}
}
@@ -411,11 +404,10 @@ void btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
void btDiscreteDynamicsWorld::setGravity(const btVector3& 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 = btRigidBody::upcast(colObj);
if (body)
btRigidBody* body = m_nonStaticRigidBodies[i];
if (body->isActive())
{
body->setGravity(gravity);
}
@@ -430,6 +422,7 @@ btVector3 btDiscreteDynamicsWorld::getGravity () const
void btDiscreteDynamicsWorld::removeRigidBody(btRigidBody* body)
{
m_nonStaticRigidBodies.remove(body);
removeCollisionObject(body);
}
@@ -442,6 +435,11 @@ void btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body)
if (body->getCollisionShape())
{
if (!body->isStaticObject())
{
m_nonStaticRigidBodies.push_back(body);
}
bool isDynamic = !(body->isStaticObject() || body->isKinematicObject());
short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(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->isStaticObject())
{
m_nonStaticRigidBodies.push_back(body);
}
addCollisionObject(body,group,mask);
}
}
@@ -479,10 +481,9 @@ void btDiscreteDynamicsWorld::updateActivationState(btScalar timeStep)
{
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 = btRigidBody::upcast(colObj);
btRigidBody* body = m_nonStaticRigidBodies[i];
if (body)
{
body->updateDeactivation(timeStep);
@@ -828,12 +829,9 @@ void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
{
BT_PROFILE("integrateTransforms");
btTransform predictedTrans;
for ( int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
btRigidBody* body = btRigidBody::upcast(colObj);
if (body)
for ( int i=0;i<m_nonStaticRigidBodies.size();i++)
{
btRigidBody* body = m_nonStaticRigidBodies[i];
body->setHitFraction(1.f);
if (body->isActive() && (!body->isStaticOrKinematicObject()))
@@ -869,7 +867,6 @@ void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
body->proceedToTransform( predictedTrans);
}
}
}
}
@@ -879,15 +876,11 @@ void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
void btDiscreteDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
{
BT_PROFILE("predictUnconstraintMotion");
for ( int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
btRigidBody* body = btRigidBody::upcast(colObj);
if (body)
for ( int i=0;i<m_nonStaticRigidBodies.size();i++)
{
btRigidBody* body = m_nonStaticRigidBodies[i];
if (!body->isStaticOrKinematicObject())
{
body->integrateVelocities( timeStep);
//damping
body->applyDamping(timeStep);
@@ -895,7 +888,6 @@ void btDiscreteDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform());
}
}
}
}

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

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