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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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33
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -56,9 +56,9 @@ subject to the following restrictions:
#include <algorithm>
btDiscreteDynamicsWorld::btDiscreteDynamicsWorld()
btDiscreteDynamicsWorld::btDiscreteDynamicsWorld(btConstraintSolver* constraintSolver)
:btDynamicsWorld(),
m_constraintSolver(new btSequentialImpulseConstraintSolver),
m_constraintSolver(constraintSolver? constraintSolver: new btSequentialImpulseConstraintSolver),
m_debugDrawer(0),
m_gravity(0,-10,0),
m_localTime(1.f/60.f),
@@ -66,8 +66,7 @@ m_profileTimings(0)
{
m_islandManager = new btSimulationIslandManager();
m_ownsIslandManager = true;
m_ownsConstraintSolver = true;
m_ownsConstraintSolver = (constraintSolver==0);
}
btDiscreteDynamicsWorld::btDiscreteDynamicsWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache,btConstraintSolver* constraintSolver)
@@ -142,7 +141,7 @@ void btDiscreteDynamicsWorld::synchronizeMotionStates()
}
};
debugDrawObject(colObj->m_worldTransform,colObj->m_collisionShape,color);
debugDrawObject(colObj->getWorldTransform(),colObj->getCollisionShape(),color);
}
btRigidBody* body = btRigidBody::upcast(colObj);
if (body && body->getMotionState() && !body->isStaticOrKinematicObject())
@@ -150,8 +149,8 @@ void btDiscreteDynamicsWorld::synchronizeMotionStates()
if (body->GetActivationState() != ISLAND_SLEEPING)
{
btTransform interpolatedTransform;
btTransformUtil::integrateTransform(body->m_interpolationWorldTransform,
body->m_interpolationLinearVelocity,body->m_interpolationAngularVelocity,m_localTime,interpolatedTransform);
btTransformUtil::integrateTransform(body->getInterpolationWorldTransform(),
body->getInterpolationLinearVelocity(),body->getInterpolationAngularVelocity(),m_localTime,interpolatedTransform);
body->getMotionState()->setWorldTransform(interpolatedTransform);
}
}
@@ -439,8 +438,8 @@ void btDiscreteDynamicsWorld::calculateSimulationIslands()
if (colObj0->IsActive() || colObj1->IsActive())
{
getSimulationIslandManager()->getUnionFind().unite((colObj0)->m_islandTag1,
(colObj1)->m_islandTag1);
getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(),
(colObj1)->getIslandTag());
}
}
}
@@ -501,13 +500,13 @@ void btDiscreteDynamicsWorld::updateAabbs()
// if (body->IsActive() && (!body->IsStatic()))
{
btPoint3 minAabb,maxAabb;
colObj->m_collisionShape->getAabb(colObj->m_worldTransform, minAabb,maxAabb);
colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
btSimpleBroadphase* bp = (btSimpleBroadphase*)m_broadphasePairCache;
//moving objects should be moderately sized, probably something wrong if not
if ( colObj->isStaticObject() || ((maxAabb-minAabb).length2() < 1e12f))
{
bp->setAabb(body->m_broadphaseHandle,minAabb,maxAabb);
bp->setAabb(body->getBroadphaseHandle(),minAabb,maxAabb);
} else
{
//something went wrong, investigate
@@ -575,7 +574,7 @@ void btDiscreteDynamicsWorld::predictUnconstraintMotion(float timeStep)
{
body->applyForces( timeStep);
body->integrateVelocities( timeStep);
body->predictIntegratedTransform(timeStep,body->m_interpolationWorldTransform);
body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform());
}
}
}
@@ -768,3 +767,13 @@ void btDiscreteDynamicsWorld::debugDrawObject(const btTransform& worldTransform,
}
}
}
void btDiscreteDynamicsWorld::setConstraintSolver(btConstraintSolver* solver)
{
if (m_ownsConstraintSolver)
{
delete m_constraintSolver;
}
m_ownsConstraintSolver = false;
m_constraintSolver = solver;
}

3
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
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@@ -86,7 +86,7 @@ public:
btDiscreteDynamicsWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache,btConstraintSolver* constraintSolver=0);
///this btDiscreteDynamicsWorld will create and own dispatcher, pairCache and constraintSolver, and deletes it in the destructor.
btDiscreteDynamicsWorld();
btDiscreteDynamicsWorld(btConstraintSolver* constraintSolver = 0);
virtual ~btDiscreteDynamicsWorld();
@@ -136,6 +136,7 @@ public:
void debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color);
virtual void setConstraintSolver(btConstraintSolver* solver);
};

4
src/BulletDynamics/Dynamics/btDynamicsWorld.h
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@@ -19,6 +19,8 @@ subject to the following restrictions:
#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
class btTypedConstraint;
class btRaycastVehicle;
class btConstraintSolver;
///btDynamicsWorld is the baseclass for several dynamics implementation, basic, discrete, parallel, and continuous
class btDynamicsWorld : public btCollisionWorld
@@ -65,6 +67,8 @@ class btDynamicsWorld : public btCollisionWorld
virtual void removeRigidBody(btRigidBody* body) = 0;
virtual void setConstraintSolver(btConstraintSolver* solver) = 0;
};
#endif //BT_DYNAMICS_WORLD_H

40
src/BulletDynamics/Dynamics/btRigidBody.cpp
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@@ -42,7 +42,13 @@ btRigidBody::btRigidBody(float mass, btMotionState* motionState, btCollisionShap
m_frictionSolverType(0)
{
motionState->getWorldTransform(m_worldTransform);
if (motionState)
{
motionState->getWorldTransform(m_worldTransform);
} else
{
m_worldTransform = btTransform::getIdentity();
}
m_interpolationWorldTransform = m_worldTransform;
m_interpolationLinearVelocity.setValue(0,0,0);
@@ -64,7 +70,7 @@ btRigidBody::btRigidBody(float mass, btMotionState* motionState, btCollisionShap
}
#ifdef OBSOLETE_MOTIONSTATE_LESS
btRigidBody::btRigidBody( float mass,const btTransform& worldTransform,btCollisionShape* collisionShape,const btVector3& localInertia,btScalar linearDamping,btScalar angularDamping,btScalar friction,btScalar restitution)
:
m_gravity(0.0f, 0.0f, 0.0f),
@@ -100,30 +106,34 @@ btRigidBody::btRigidBody( float mass,const btTransform& worldTransform,btCollisi
}
#endif //OBSOLETE_MOTIONSTATE_LESS
#define EXPERIMENTAL_JITTER_REMOVAL 1
#ifdef EXPERIMENTAL_JITTER_REMOVAL
//Bullet 2.20b has experimental code to reduce jitter just before objects fall asleep/deactivate
//doesn't work very well yet (value 0 only reduces performance a bit, no difference in functionality)
float gClippedAngvelThresholdSqr = 0.f;
float gClippedLinearThresholdSqr = 0.f;
//Bullet 2.20b has experimental damping code to reduce jitter just before objects fall asleep/deactivate
//doesn't work very well yet (value 0 disabled this damping)
//note there this influences deactivation thresholds!
float gClippedAngvelThresholdSqr = 0.01f;
float gClippedLinearThresholdSqr = 0.01f;
float gJitterVelocityDampingFactor = 1.0f;
#endif //EXPERIMENTAL_JITTER_REMOVAL
void btRigidBody::predictIntegratedTransform(btScalar timeStep,btTransform& predictedTransform)
{
#ifdef EXPERIMENTAL_JITTER_REMOVAL
//clip to avoid jitter
if (m_angularVelocity.length2() < gClippedAngvelThresholdSqr)
if (wantsSleeping())
{
m_angularVelocity.setValue(0,0,0);
printf("clipped!\n");
//clip to avoid jitter
// if ((m_angularVelocity.length2() < gClippedAngvelThresholdSqr) &&
// (m_linearVelocity.length2() < gClippedLinearThresholdSqr))
{
m_angularVelocity *= gJitterVelocityDampingFactor;
m_linearVelocity *= gJitterVelocityDampingFactor;
}
}
if (m_linearVelocity.length2() < gClippedLinearThresholdSqr)
{
m_linearVelocity.setValue(0,0,0);
printf("clipped!\n");
}
#endif //EXPERIMENTAL_JITTER_REMOVAL
btTransformUtil::integrateTransform(m_worldTransform,m_linearVelocity,m_angularVelocity,timeStep,predictedTransform);

8
src/BulletDynamics/Dynamics/btRigidBody.h
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@@ -62,7 +62,11 @@ class btRigidBody : public btCollisionObject
public:
#ifdef OBSOLETE_MOTIONSTATE_LESS
//not supported, please use btMotionState
btRigidBody(float mass, const btTransform& worldTransform, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0),btScalar linearDamping=0.f,btScalar angularDamping=0.f,btScalar friction=0.5f,btScalar restitution=0.f);
#endif //OBSOLETE_MOTIONSTATE_LESS
btRigidBody(float mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0),btScalar linearDamping=0.f,btScalar angularDamping=0.f,btScalar friction=0.5f,btScalar restitution=0.f);
void proceedToTransform(const btTransform& newTrans);
@@ -71,11 +75,11 @@ public:
///but a rigidbody is derived from btCollisionObject, so we can safely perform an upcast
static const btRigidBody* upcast(const btCollisionObject* colObj)
{
return (const btRigidBody*)colObj->m_internalOwner;
return (const btRigidBody*)colObj->getInternalOwner();
}
static btRigidBody* upcast(btCollisionObject* colObj)
{
return (btRigidBody*)colObj->m_internalOwner;
return (btRigidBody*)colObj->getInternalOwner();
}
/// continuous collision detection needs prediction

19
src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
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@@ -117,9 +117,9 @@ void btSimpleDynamicsWorld::updateAabbs()
if (body->IsActive() && (!body->isStaticObject()))
{
btPoint3 minAabb,maxAabb;
colObj->m_collisionShape->getAabb(colObj->m_worldTransform, minAabb,maxAabb);
colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
btBroadphaseInterface* bp = getBroadphase();
bp->setAabb(body->m_broadphaseHandle,minAabb,maxAabb);
bp->setAabb(body->getBroadphaseHandle(),minAabb,maxAabb);
}
}
}
@@ -159,7 +159,7 @@ void btSimpleDynamicsWorld::predictUnconstraintMotion(float timeStep)
{
body->applyForces( timeStep);
body->integrateVelocities( timeStep);
body->predictIntegratedTransform(timeStep,body->m_interpolationWorldTransform);
body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform());
}
}
}
@@ -178,9 +178,20 @@ void btSimpleDynamicsWorld::synchronizeMotionStates()
{
if (body->GetActivationState() != ISLAND_SLEEPING)
{
body->getMotionState()->setWorldTransform(body->m_worldTransform);
body->getMotionState()->setWorldTransform(body->getWorldTransform());
}
}
}
}
void btSimpleDynamicsWorld::setConstraintSolver(btConstraintSolver* solver)
{
if (m_ownsConstraintSolver)
{
delete m_constraintSolver;
}
m_ownsConstraintSolver = false;
m_constraintSolver = solver;
}

2
src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h
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@@ -77,6 +77,8 @@ public:
void synchronizeMotionStates();
virtual void setConstraintSolver(btConstraintSolver* solver);
};
#endif //BT_SIMPLE_DYNAMICS_WORLD_H