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use Dispatcher in ConcaveConvexCollisionAlgorithm (so it uses the registered collision algorithm, not hardcoded convexconcave)

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improved performance of constraint solver by precalculating the cross product/impulse arm
added collision comparison code: ODE box-box, also sphere-triangle
added safety check into GJK, and an assert for AABB's that are very large
write partid/triangle index outside of GJK
This commit is contained in:
ejcoumans
2006-10-28 02:06:19 +00:00
parent 7987be45c5
commit 3fe3b11924
24 changed files with 730 additions and 90 deletions
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23
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -502,7 +502,28 @@ void btDiscreteDynamicsWorld::updateAabbs()
btPoint3 minAabb,maxAabb;
colObj->m_collisionShape->getAabb(colObj->m_worldTransform, minAabb,maxAabb);
btSimpleBroadphase* bp = (btSimpleBroadphase*)m_broadphasePairCache;
bp->setAabb(body->m_broadphaseHandle,minAabb,maxAabb);
if ( colObj->m_collisionShape->isInfinite() || ((maxAabb-minAabb).length2() < 1e12f))
{
bp->setAabb(body->m_broadphaseHandle,minAabb,maxAabb);
} else
{
//something went wrong, investigate
//this assert is unwanted in 3D modelers (danger of loosing work)
assert(0);
body->SetActivationState(DISABLE_SIMULATION);
static bool reportMe = true;
if (reportMe)
{
reportMe = false;
printf("Overflow in AABB, object removed from simulation \n");
printf("If you can reproduce this, please email bugs@continuousphysics.com\n");
printf("Please include above information, your Platform, version of OS.\n");
printf("Thanks.\n");
}
}
if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
{
DrawAabb(m_debugDrawer,minAabb,maxAabb,colorvec);

10
src/BulletDynamics/Dynamics/btRigidBody.h
View File

@@ -158,6 +158,16 @@ public:
applyTorqueImpulse(rel_pos.cross(impulse));
}
}
//Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position
inline void internalApplyImpulse(const btVector3& linearComponent, const btVector3& angularComponent,float impulseMagnitude)
{
if (m_inverseMass != 0.f)
{
m_linearVelocity += linearComponent*impulseMagnitude;
m_angularVelocity += angularComponent*impulseMagnitude;
}
}
void clearForces()
{