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One of the last parts of the refactoring (hopefully), made most members of btCollisionObject protected.

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Also did some work on improving the constraint solver.
This commit is contained in:
ejcoumans
2006-11-02 03:42:53 +00:00
parent 82ba30caa6
commit 4050da0e2f
34 changed files with 485 additions and 265 deletions
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20
Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
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@@ -12,7 +12,6 @@ subject to the following restrictions:
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
//#define USE_KINEMATIC_GROUND 1
//#define PRINT_CONTACT_STATISTICS 1
//#define REGISTER_CUSTOM_COLLISION_ALGORITHM 1
@@ -82,7 +81,7 @@ btCollisionShape* shapePtr[numShapes] =
///Please don't make the box sizes larger then 1000: the collision detection will be inaccurate.
///See http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=346
#define USE_GROUND_PLANE 1
//#define USE_GROUND_PLANE 1
#ifdef USE_GROUND_PLANE
new btStaticPlaneShape(btVector3(0,1,0),10),
#else
@@ -164,6 +163,19 @@ void CcdPhysicsDemo::clientMoveAndDisplay()
if (m_dynamicsWorld)
{
//swap solver
#ifdef COMPARE_WITH_QUICKSTEP
if (m_debugMode & btIDebugDraw::DBG_DisableBulletLCP)
{
m_dynamicsWorld->setConstraintSolver( new OdeConstraintSolver());
} else
{
m_dynamicsWorld->setConstraintSolver( new btSequentialImpulseConstraintSolver());
}
#endif //COMPARE_WITH_QUICKSTEP
//during idle mode, just run 1 simulation step maximum
int maxSimSubSteps = m_idle ? 1 : 1;
if (m_idle)
@@ -356,10 +368,10 @@ void CcdPhysicsDemo::initPhysics()
// Only do CCD if motion in one timestep (1.f/60.f) exceeds CUBE_HALF_EXTENTS
body->m_ccdSquareMotionThreshold = CUBE_HALF_EXTENTS;
body->setCcdSquareMotionThreshold( CUBE_HALF_EXTENTS );
//Experimental: better estimation of CCD Time of Impact:
body->m_ccdSweptSphereRadius = 0.2*CUBE_HALF_EXTENTS;
body->setCcdSweptSphereRadius( 0.2*CUBE_HALF_EXTENTS );
#ifdef USER_DEFINED_FRICTION_MODEL
///Advanced use: override the friction solver

8
Demos/ColladaDemo/ColladaConverter.cpp
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@@ -543,9 +543,9 @@ void ColladaConverter::prepareConstraints(ConstraintInput& input)
for (int i=0;i<m_numObjects;i++)
{
if (m_rigidBodies[i]->m_userObjectPointer)
if (m_rigidBodies[i]->getUserPointer())
{
char* bodyName = (char*)m_rigidBodies[i]->m_userObjectPointer;
char* bodyName = (char*)m_rigidBodies[i]->getUserPointer();
if (!strcmp(bodyName,orgUri0))
{
body0=m_rigidBodies[i];
@@ -707,7 +707,7 @@ void ColladaConverter::PreparePhysicsObject(struct btRigidBodyInput& input, bool
if (body)
{
//bodyName is used as identifier for constraints
body->m_userObjectPointer = (void*)input.m_bodyName;
body->setUserPointer((void*)input.m_bodyName);
m_rigidBodies[m_numObjects] = body;
m_numObjects++;
}
@@ -737,7 +737,7 @@ bool ColladaConverter::saveAs(const char* filename)
{
btVector3 np = m_rigidBodies[i]->m_worldTransform.getOrigin();
btVector3 np = m_rigidBodies[i]->getWorldTransform().getOrigin();
domFloat3 newPos = m_colladadomNodes[i]->getTranslate_array().get(0)->getValue();
newPos.set(0,np[0]);
newPos.set(1,np[1]);

22
Demos/CollisionInterfaceDemo/CollisionInterfaceDemo.cpp
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@@ -65,8 +65,8 @@ void CollisionInterfaceDemo::initPhysics()
btMatrix3x3 basisB;
basisB.setIdentity();
objects[0].m_worldTransform.setBasis(basisA);
objects[1].m_worldTransform.setBasis(basisB);
objects[0].getWorldTransform().setBasis(basisA);
objects[1].getWorldTransform().setBasis(basisB);
//btPoint3 points0[3]={btPoint3(1,0,0),btPoint3(0,1,0),btPoint3(0,0,1)};
//btPoint3 points1[5]={btPoint3(1,0,0),btPoint3(0,1,0),btPoint3(0,0,1),btPoint3(0,0,-1),btPoint3(-1,-1,0)};
@@ -78,8 +78,8 @@ void CollisionInterfaceDemo::initPhysics()
//ConvexHullShape hullB(points1,4);
//hullB.setLocalScaling(btVector3(4,4,4));
objects[0].m_collisionShape = boxA;//&hullA;
objects[1].m_collisionShape = boxB;//&hullB;
objects[0].setCollisionShape(boxA);//&hullA;
objects[1].setCollisionShape(boxB);//&hullB;
btCollisionDispatcher* dispatcher = new btCollisionDispatcher;
btVector3 worldAabbMin(-1000,-1000,-1000);
@@ -130,7 +130,7 @@ void CollisionInterfaceDemo::displayCallback(void) {
btPersistentManifold* contactManifold = collisionWorld->getDispatcher()->getManifoldByIndexInternal(i);
btCollisionObject* obA = static_cast<btCollisionObject*>(contactManifold->getBody0());
btCollisionObject* obB = static_cast<btCollisionObject*>(contactManifold->getBody1());
contactManifold->refreshContactPoints(obA->m_worldTransform,obB->m_worldTransform);
contactManifold->refreshContactPoints(obA->getWorldTransform(),obB->getWorldTransform());
int numContacts = contactManifold->getNumContacts();
for (int j=0;j<numContacts;j++)
@@ -161,17 +161,17 @@ void CollisionInterfaceDemo::displayCallback(void) {
for (i=0;i<numObjects;i++)
{
objects[i].m_worldTransform.getOpenGLMatrix( m );
GL_ShapeDrawer::drawOpenGL(m,objects[i].m_collisionShape,btVector3(1,1,1),getDebugMode());
objects[i].getWorldTransform().getOpenGLMatrix( m );
GL_ShapeDrawer::drawOpenGL(m,objects[i].getCollisionShape(),btVector3(1,1,1),getDebugMode());
}
btQuaternion orn;
orn.setEuler(yaw,pitch,roll);
objects[1].m_worldTransform.setOrigin(objects[1].m_worldTransform.getOrigin()+btVector3(0,-0.01,0));
objects[1].getWorldTransform().setOrigin(objects[1].getWorldTransform().getOrigin()+btVector3(0,-0.01,0));
objects[0].m_worldTransform.setRotation(orn);
objects[0].getWorldTransform().setRotation(orn);
pitch += 0.005f;
yaw += 0.01f;
@@ -182,8 +182,8 @@ void CollisionInterfaceDemo::displayCallback(void) {
void CollisionInterfaceDemo::clientResetScene()
{
objects[0].m_worldTransform.setOrigin(btVector3(0.0f,3.f,0.f));
objects[1].m_worldTransform.setOrigin(btVector3(0.0f,9.f,0.f));
objects[0].getWorldTransform().setOrigin(btVector3(0.0f,3.f,0.f));
objects[1].getWorldTransform().setOrigin(btVector3(0.0f,9.f,0.f));
}

8
Demos/ConcaveDemo/ConcavePhysicsDemo.cpp
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@@ -60,12 +60,12 @@ bool CustomMaterialCombinerCallback(btManifoldPoint& cp, const btCollisionObject
float restitution0 = colObj0->getRestitution();
float restitution1 = colObj1->getRestitution();
if (colObj0->m_collisionFlags & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)
if (colObj0->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)
{
friction0 = 1.0;//partId0,index0
restitution0 = 0.f;
}
if (colObj1->m_collisionFlags & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)
if (colObj1->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)
{
if (index1&1)
{
@@ -161,10 +161,10 @@ void ConcaveDemo::initPhysics()
btRigidBody* staticBody = localCreateRigidBody(mass, startTransform,trimeshShape);
staticBody->m_collisionFlags |=btCollisionObject::CF_STATIC_OBJECT;
staticBody->setCollisionFlags(staticBody->getCollisionFlags() | btCollisionObject::CF_STATIC_OBJECT);
//enable custom material callback
staticBody->m_collisionFlags |= btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK;
staticBody->setCollisionFlags(staticBody->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
{
for (int i=0;i<10;i++)

14
Demos/OpenGL/DemoApplication.cpp
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@@ -435,8 +435,8 @@ void DemoApplication::shootBox(const btVector3& destination)
linVel.normalize();
linVel*=m_ShootBoxInitialSpeed;
body->m_worldTransform.setOrigin(camPos);
body->m_worldTransform.setRotation(btQuaternion(0,0,0,1));
body->getWorldTransform().setOrigin(camPos);
body->getWorldTransform().setRotation(btQuaternion(0,0,0,1));
body->setLinearVelocity(linVel);
body->setAngularVelocity(btVector3(0,0,0));
}
@@ -597,7 +597,7 @@ void DemoApplication::mouseFunc(int button, int state, int x, int y)
//printf("removed constraint %i",gPickingConstraintId);
m_pickConstraint = 0;
pickedBody->ForceActivationState(ACTIVE_TAG);
pickedBody->m_deactivationTime = 0.f;
pickedBody->setDeactivationTime( 0.f );
pickedBody = 0;
}
@@ -690,7 +690,7 @@ void DemoApplication::renderme()
myMotionState->m_graphicsWorldTrans.getOpenGLMatrix(m);
} else
{
colObj->m_worldTransform.getOpenGLMatrix(m);
colObj->getWorldTransform().getOpenGLMatrix(m);
}
btVector3 wireColor(1.f,1.0f,0.5f); //wants deactivation
@@ -720,7 +720,7 @@ void DemoApplication::renderme()
}
}
GL_ShapeDrawer::drawOpenGL(m,colObj->m_collisionShape,wireColor,getDebugMode());
GL_ShapeDrawer::drawOpenGL(m,colObj->getCollisionShape(),wireColor,getDebugMode());
}
@@ -832,8 +832,8 @@ void DemoApplication::clientResetScene()
{
btDefaultMotionState* myMotionState = (btDefaultMotionState*)body->getMotionState();
myMotionState->m_graphicsWorldTrans = myMotionState->m_startWorldTrans;
colObj->m_worldTransform = myMotionState->m_graphicsWorldTrans;
colObj->m_interpolationWorldTransform = myMotionState->m_startWorldTrans;
colObj->setWorldTransform( myMotionState->m_graphicsWorldTrans );
colObj->setInterpolationWorldTransform( myMotionState->m_startWorldTrans );
btRigidBody* body = btRigidBody::upcast(colObj);
if (body && !body->isStaticObject())
{

2
Demos/UserCollisionAlgorithm/UserCollisionAlgorithm.cpp
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@@ -123,7 +123,7 @@ void UserCollisionAlgorithm::initPhysics()
btRigidBody* staticBody= localCreateRigidBody(mass, startTransform,trimeshShape);
//enable custom material callback
staticBody->m_collisionFlags |= btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK;
staticBody->setCollisionFlags(staticBody->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
{
for (int i=0;i<10;i++)