Synchronized changes of Bullet, from Blender.
Added optional flag btSoftBody::appendAnchor( int node,btRigidBody* body, bool disableCollisionBetweenLinkedBodies=false), to disable collision between soft body and rigid body, when pinned Added btCollisionObject::setAnisotropicFriction, to scale friction in x,y,z direction. Added btCollisionObject::setContactProcessingThreshold(float threshold), to avoid collision resolution of contact above a certain distance. Avoid collisions between static objects (causes the CharacterDemo to assert, when a dynamic object hits character)
This commit is contained in:
erwin.coumans
@@ -246,6 +246,21 @@ btScalar btSequentialImpulseConstraintSolver::restitutionCurve(btScalar rel_vel,
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void applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection);
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void applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection)
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{
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if (colObj && colObj->hasAnisotropicFriction())
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{
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// transform to local coordinates
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btVector3 loc_lateral = frictionDirection * colObj->getWorldTransform().getBasis();
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const btVector3& friction_scaling = colObj->getAnisotropicFriction();
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//apply anisotropic friction
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loc_lateral *= friction_scaling;
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// ... and transform it back to global coordinates
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frictionDirection = colObj->getWorldTransform().getBasis() * loc_lateral;
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}
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}
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btSolverConstraint& btSequentialImpulseConstraintSolver::addFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation)
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@@ -379,6 +394,10 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
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solverBodyIdB = getOrInitSolverBody(*colObj1);
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}
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///avoid collision response between two static objects
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if (!solverBodyIdA && !solverBodyIdB)
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return;
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btVector3 rel_pos1;
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btVector3 rel_pos2;
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btScalar relaxation;
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@@ -388,9 +407,7 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
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btManifoldPoint& cp = manifold->getContactPoint(j);
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///this is a bad test and results in jitter -> always solve for those zero-distanc contacts!
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///-> if (cp.getDistance() <= btScalar(0.))
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//if (cp.getDistance() <= manifold->getContactBreakingThreshold())
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if (cp.getDistance() <= manifold->getContactProcessingThreshold())
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{
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const btVector3& pos1 = cp.getPositionWorldOnA();
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@@ -526,11 +543,15 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
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if (!(infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION) && lat_rel_vel > SIMD_EPSILON)
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{
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cp.m_lateralFrictionDir1 /= btSqrt(lat_rel_vel);
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applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1);
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applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1);
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addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
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if((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
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{
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cp.m_lateralFrictionDir2 = cp.m_lateralFrictionDir1.cross(cp.m_normalWorldOnB);
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cp.m_lateralFrictionDir2.normalize();//??
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applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2);
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applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2);
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addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
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}
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cp.m_lateralFrictionInitialized = true;
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@@ -538,9 +559,14 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
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{
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//re-calculate friction direction every frame, todo: check if this is really needed
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btPlaneSpace1(cp.m_normalWorldOnB,cp.m_lateralFrictionDir1,cp.m_lateralFrictionDir2);
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applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1);
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applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1);
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addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
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if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
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{
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applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2);
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applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2);
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addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
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}
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cp.m_lateralFrictionInitialized = true;
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@@ -24,10 +24,7 @@ class btIDebugDraw;
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///The btSequentialImpulseConstraintSolver uses a Propagation Method and Sequentially applies impulses
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///The approach is the 3D version of Erin Catto's GDC 2006 tutorial. See http://www.gphysics.com
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///Although Sequential Impulse is more intuitive, it is mathematically equivalent to Projected Successive Overrelaxation (iterative LCP)
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///Applies impulses for combined restitution and penetration recovery and to simulate friction
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///The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (iterative LCP) method.
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class btSequentialImpulseConstraintSolver : public btConstraintSolver
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{
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protected:
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@@ -1,218 +1,218 @@
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/*
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* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
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*
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* Permission to use, copy, modify, distribute and sell this software
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* and its documentation for any purpose is hereby granted without fee,
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* provided that the above copyright notice appear in all copies.
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* Erwin Coumans makes no representations about the suitability
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* of this software for any purpose.
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* It is provided "as is" without express or implied warranty.
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*/
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#ifndef RAYCASTVEHICLE_H
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#define RAYCASTVEHICLE_H
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#include "BulletDynamics/Dynamics/btRigidBody.h"
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#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
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#include "btVehicleRaycaster.h"
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class btDynamicsWorld;
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#include "LinearMath/btAlignedObjectArray.h"
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#include "btWheelInfo.h"
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class btVehicleTuning;
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///rayCast vehicle, very special constraint that turn a rigidbody into a vehicle.
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class btRaycastVehicle : public btTypedConstraint
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{
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btAlignedObjectArray<btVector3> m_forwardWS;
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btAlignedObjectArray<btVector3> m_axle;
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btAlignedObjectArray<btScalar> m_forwardImpulse;
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btAlignedObjectArray<btScalar> m_sideImpulse;
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public:
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class btVehicleTuning
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{
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public:
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btVehicleTuning()
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:m_suspensionStiffness(btScalar(5.88)),
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m_suspensionCompression(btScalar(0.83)),
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m_suspensionDamping(btScalar(0.88)),
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m_maxSuspensionTravelCm(btScalar(500.)),
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m_frictionSlip(btScalar(10.5))
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{
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}
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btScalar m_suspensionStiffness;
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btScalar m_suspensionCompression;
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btScalar m_suspensionDamping;
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btScalar m_maxSuspensionTravelCm;
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btScalar m_frictionSlip;
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};
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private:
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btScalar m_tau;
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btScalar m_damping;
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btVehicleRaycaster* m_vehicleRaycaster;
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btScalar m_pitchControl;
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btScalar m_steeringValue;
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btScalar m_currentVehicleSpeedKmHour;
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btRigidBody* m_chassisBody;
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int m_indexRightAxis;
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int m_indexUpAxis;
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int m_indexForwardAxis;
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void defaultInit(const btVehicleTuning& tuning);
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public:
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//constructor to create a car from an existing rigidbody
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btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis, btVehicleRaycaster* raycaster );
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virtual ~btRaycastVehicle() ;
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const btTransform& getChassisWorldTransform() const;
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btScalar rayCast(btWheelInfo& wheel);
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virtual void updateVehicle(btScalar step);
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void resetSuspension();
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btScalar getSteeringValue(int wheel) const;
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void setSteeringValue(btScalar steering,int wheel);
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void applyEngineForce(btScalar force, int wheel);
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const btTransform& getWheelTransformWS( int wheelIndex ) const;
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void updateWheelTransform( int wheelIndex, bool interpolatedTransform = true );
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void setRaycastWheelInfo( int wheelIndex , bool isInContact, const btVector3& hitPoint, const btVector3& hitNormal,btScalar depth);
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btWheelInfo& addWheel( const btVector3& connectionPointCS0, const btVector3& wheelDirectionCS0,const btVector3& wheelAxleCS,btScalar suspensionRestLength,btScalar wheelRadius,const btVehicleTuning& tuning, bool isFrontWheel);
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inline int getNumWheels() const {
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return int (m_wheelInfo.size());
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}
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btAlignedObjectArray<btWheelInfo> m_wheelInfo;
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const btWheelInfo& getWheelInfo(int index) const;
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btWheelInfo& getWheelInfo(int index);
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void updateWheelTransformsWS(btWheelInfo& wheel , bool interpolatedTransform = true);
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void setBrake(btScalar brake,int wheelIndex);
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void setPitchControl(btScalar pitch)
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{
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m_pitchControl = pitch;
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}
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void updateSuspension(btScalar deltaTime);
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virtual void updateFriction(btScalar timeStep);
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inline btRigidBody* getRigidBody()
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{
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return m_chassisBody;
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}
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const btRigidBody* getRigidBody() const
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{
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return m_chassisBody;
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}
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inline int getRightAxis() const
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{
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return m_indexRightAxis;
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}
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inline int getUpAxis() const
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{
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return m_indexUpAxis;
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}
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inline int getForwardAxis() const
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{
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return m_indexForwardAxis;
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}
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///Worldspace forward vector
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btVector3 getForwardVector() const
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{
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const btTransform& chassisTrans = getChassisWorldTransform();
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btVector3 forwardW (
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chassisTrans.getBasis()[0][m_indexForwardAxis],
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chassisTrans.getBasis()[1][m_indexForwardAxis],
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chassisTrans.getBasis()[2][m_indexForwardAxis]);
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return forwardW;
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}
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///Velocity of vehicle (positive if velocity vector has same direction as foward vector)
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btScalar getCurrentSpeedKmHour() const
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{
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return m_currentVehicleSpeedKmHour;
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}
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virtual void setCoordinateSystem(int rightIndex,int upIndex,int forwardIndex)
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{
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m_indexRightAxis = rightIndex;
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m_indexUpAxis = upIndex;
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m_indexForwardAxis = forwardIndex;
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}
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virtual void buildJacobian()
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{
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//not yet
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}
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/*
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* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
|
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*
|
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* Permission to use, copy, modify, distribute and sell this software
|
||||
* and its documentation for any purpose is hereby granted without fee,
|
||||
* provided that the above copyright notice appear in all copies.
|
||||
* Erwin Coumans makes no representations about the suitability
|
||||
* of this software for any purpose.
|
||||
* It is provided "as is" without express or implied warranty.
|
||||
*/
|
||||
#ifndef RAYCASTVEHICLE_H
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#define RAYCASTVEHICLE_H
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#include "BulletDynamics/Dynamics/btRigidBody.h"
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#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
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#include "btVehicleRaycaster.h"
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class btDynamicsWorld;
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#include "LinearMath/btAlignedObjectArray.h"
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#include "btWheelInfo.h"
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class btVehicleTuning;
|
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|
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///rayCast vehicle, very special constraint that turn a rigidbody into a vehicle.
|
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class btRaycastVehicle : public btTypedConstraint
|
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{
|
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|
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btAlignedObjectArray<btVector3> m_forwardWS;
|
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btAlignedObjectArray<btVector3> m_axle;
|
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btAlignedObjectArray<btScalar> m_forwardImpulse;
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btAlignedObjectArray<btScalar> m_sideImpulse;
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|
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public:
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class btVehicleTuning
|
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{
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public:
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btVehicleTuning()
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:m_suspensionStiffness(btScalar(5.88)),
|
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m_suspensionCompression(btScalar(0.83)),
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m_suspensionDamping(btScalar(0.88)),
|
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m_maxSuspensionTravelCm(btScalar(500.)),
|
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m_frictionSlip(btScalar(10.5))
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{
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}
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btScalar m_suspensionStiffness;
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btScalar m_suspensionCompression;
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btScalar m_suspensionDamping;
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btScalar m_maxSuspensionTravelCm;
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btScalar m_frictionSlip;
|
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|
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};
|
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private:
|
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|
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btScalar m_tau;
|
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btScalar m_damping;
|
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btVehicleRaycaster* m_vehicleRaycaster;
|
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btScalar m_pitchControl;
|
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btScalar m_steeringValue;
|
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btScalar m_currentVehicleSpeedKmHour;
|
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|
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btRigidBody* m_chassisBody;
|
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|
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int m_indexRightAxis;
|
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int m_indexUpAxis;
|
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int m_indexForwardAxis;
|
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|
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void defaultInit(const btVehicleTuning& tuning);
|
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|
||||
public:
|
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|
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//constructor to create a car from an existing rigidbody
|
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btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis, btVehicleRaycaster* raycaster );
|
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|
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virtual ~btRaycastVehicle() ;
|
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|
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|
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const btTransform& getChassisWorldTransform() const;
|
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|
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btScalar rayCast(btWheelInfo& wheel);
|
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|
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virtual void updateVehicle(btScalar step);
|
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|
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void resetSuspension();
|
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|
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btScalar getSteeringValue(int wheel) const;
|
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|
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void setSteeringValue(btScalar steering,int wheel);
|
||||
|
||||
|
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void applyEngineForce(btScalar force, int wheel);
|
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|
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const btTransform& getWheelTransformWS( int wheelIndex ) const;
|
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|
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void updateWheelTransform( int wheelIndex, bool interpolatedTransform = true );
|
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|
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void setRaycastWheelInfo( int wheelIndex , bool isInContact, const btVector3& hitPoint, const btVector3& hitNormal,btScalar depth);
|
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|
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btWheelInfo& addWheel( const btVector3& connectionPointCS0, const btVector3& wheelDirectionCS0,const btVector3& wheelAxleCS,btScalar suspensionRestLength,btScalar wheelRadius,const btVehicleTuning& tuning, bool isFrontWheel);
|
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|
||||
inline int getNumWheels() const {
|
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return int (m_wheelInfo.size());
|
||||
}
|
||||
|
||||
btAlignedObjectArray<btWheelInfo> m_wheelInfo;
|
||||
|
||||
|
||||
const btWheelInfo& getWheelInfo(int index) const;
|
||||
|
||||
btWheelInfo& getWheelInfo(int index);
|
||||
|
||||
void updateWheelTransformsWS(btWheelInfo& wheel , bool interpolatedTransform = true);
|
||||
|
||||
|
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void setBrake(btScalar brake,int wheelIndex);
|
||||
|
||||
void setPitchControl(btScalar pitch)
|
||||
{
|
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m_pitchControl = pitch;
|
||||
}
|
||||
|
||||
void updateSuspension(btScalar deltaTime);
|
||||
|
||||
virtual void updateFriction(btScalar timeStep);
|
||||
|
||||
|
||||
|
||||
inline btRigidBody* getRigidBody()
|
||||
{
|
||||
return m_chassisBody;
|
||||
}
|
||||
|
||||
const btRigidBody* getRigidBody() const
|
||||
{
|
||||
return m_chassisBody;
|
||||
}
|
||||
|
||||
inline int getRightAxis() const
|
||||
{
|
||||
return m_indexRightAxis;
|
||||
}
|
||||
inline int getUpAxis() const
|
||||
{
|
||||
return m_indexUpAxis;
|
||||
}
|
||||
|
||||
inline int getForwardAxis() const
|
||||
{
|
||||
return m_indexForwardAxis;
|
||||
}
|
||||
|
||||
|
||||
///Worldspace forward vector
|
||||
btVector3 getForwardVector() const
|
||||
{
|
||||
const btTransform& chassisTrans = getChassisWorldTransform();
|
||||
|
||||
btVector3 forwardW (
|
||||
chassisTrans.getBasis()[0][m_indexForwardAxis],
|
||||
chassisTrans.getBasis()[1][m_indexForwardAxis],
|
||||
chassisTrans.getBasis()[2][m_indexForwardAxis]);
|
||||
|
||||
return forwardW;
|
||||
}
|
||||
|
||||
///Velocity of vehicle (positive if velocity vector has same direction as foward vector)
|
||||
btScalar getCurrentSpeedKmHour() const
|
||||
{
|
||||
return m_currentVehicleSpeedKmHour;
|
||||
}
|
||||
|
||||
virtual void setCoordinateSystem(int rightIndex,int upIndex,int forwardIndex)
|
||||
{
|
||||
m_indexRightAxis = rightIndex;
|
||||
m_indexUpAxis = upIndex;
|
||||
m_indexForwardAxis = forwardIndex;
|
||||
}
|
||||
|
||||
virtual void buildJacobian()
|
||||
{
|
||||
//not yet
|
||||
}
|
||||
|
||||
virtual void getInfo1 (btConstraintInfo1* info)
|
||||
{
|
||||
info->m_numConstraintRows = 0;
|
||||
info->nub = 0;
|
||||
}
|
||||
|
||||
virtual void getInfo2 (btConstraintInfo2* info)
|
||||
{
|
||||
btAssert(0);
|
||||
}
|
||||
|
||||
virtual void solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar timeStep)
|
||||
{
|
||||
(void)timeStep;
|
||||
//not yet
|
||||
}
|
||||
|
||||
|
||||
};
|
||||
|
||||
class btDefaultVehicleRaycaster : public btVehicleRaycaster
|
||||
{
|
||||
btDynamicsWorld* m_dynamicsWorld;
|
||||
public:
|
||||
btDefaultVehicleRaycaster(btDynamicsWorld* world)
|
||||
:m_dynamicsWorld(world)
|
||||
{
|
||||
}
|
||||
|
||||
virtual void* castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result);
|
||||
|
||||
};
|
||||
|
||||
|
||||
#endif //RAYCASTVEHICLE_H
|
||||
|
||||
virtual void getInfo2 (btConstraintInfo2* info)
|
||||
{
|
||||
btAssert(0);
|
||||
}
|
||||
|
||||
virtual void solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar timeStep)
|
||||
{
|
||||
(void)timeStep;
|
||||
//not yet
|
||||
}
|
||||
|
||||
|
||||
};
|
||||
|
||||
class btDefaultVehicleRaycaster : public btVehicleRaycaster
|
||||
{
|
||||
btDynamicsWorld* m_dynamicsWorld;
|
||||
public:
|
||||
btDefaultVehicleRaycaster(btDynamicsWorld* world)
|
||||
:m_dynamicsWorld(world)
|
||||
{
|
||||
}
|
||||
|
||||
virtual void* castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result);
|
||||
|
||||
};
|
||||
|
||||
|
||||
#endif //RAYCASTVEHICLE_H
|
||||
|
||||
|
||||
Reference in New Issue
Block a user