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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;
}