Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

40
src/BulletDynamics/Dynamics/btRigidBody.cpp
View File

@@ -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);