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Fixes in raycast (against sphere), point 2 point constraint

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Picking test works, holding shift in App_BasicGpuDemo_*
This commit is contained in:
erwin coumans
2013-06-18 19:33:45 -07:00
parent a81d847c24
commit 481d54967f
8 changed files with 106 additions and 27 deletions
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81
demos3/BasicGpuDemo/b3GpuDynamicsWorld.cpp
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@@ -8,6 +8,7 @@
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"
#include "LinearMath/btQuickprof.h"
@@ -25,9 +26,9 @@
#endif
//#if (BT_BULLET_VERSION >= 282)
//#define BT_USE_BODY_UPDATE_REVISION
//#endif
#if (BT_BULLET_VERSION >= 282)
#define BT_USE_BODY_UPDATE_REVISION
#endif
b3GpuDynamicsWorld::b3GpuDynamicsWorld(class b3GpuSapBroadphase* bp,class b3GpuNarrowPhase* np, class b3GpuRigidBodyPipeline* rigidBodyPipeline)
@@ -37,9 +38,12 @@ m_cpuGpuSync(true),
m_bp(bp),
m_np(np),
m_rigidBodyPipeline(rigidBodyPipeline),
m_localTime(0.f)
m_localTime(0.f),
m_staticBody(0)
{
btConvexHullShape* nullShape = new btConvexHullShape();
m_staticBody = new btRigidBody(0,0,nullShape);
addRigidBody(m_staticBody,0,0);
}
b3GpuDynamicsWorld::~b3GpuDynamicsWorld()
@@ -63,6 +67,34 @@ int b3GpuDynamicsWorld::stepSimulation( btScalar timeStepUnused, int maxSubStep
BT_PROFILE("stepSimulation");
{
for (int i=0;i<m_constraints.size();i++)
{
btTypedConstraint* constraint = m_constraints[i];
b3TypedConstraint* c = (b3TypedConstraint*) constraint->getUserConstraintPtr();
if (c)
{
switch (constraint->getConstraintType())
{
case POINT2POINT_CONSTRAINT_TYPE:
{
btPoint2PointConstraint* p2 = (btPoint2PointConstraint*) constraint;
b3Point2PointConstraint* p3 = (b3Point2PointConstraint*) c;
p3->setPivotA((const b3Vector3&)p2->getPivotInA());
p3->setPivotB((const b3Vector3&)p2->getPivotInB());
p3->m_setting.m_damping = p2->m_setting.m_damping;
p3->m_setting.m_impulseClamp = p2->m_setting.m_impulseClamp;
p3->m_setting.m_tau = p2->m_setting.m_tau;
break;
};
default:
{
}
};
}
}
}
// detect any change (very simple)
{
@@ -115,6 +147,7 @@ int b3GpuDynamicsWorld::stepSimulation( btScalar timeStepUnused, int maxSubStep
if (m_cpuGpuSync)
{
BT_PROFILE("cpuGpuSync");
m_cpuGpuSync = false;
m_np->writeAllBodiesToGpu();
m_bp->writeAabbsToGpu();
@@ -409,7 +442,7 @@ void b3GpuDynamicsWorld::addRigidBody(btRigidBody* body)
body->setUserIndex(bodyIndex);
m_collisionObjects.push_back(body);
//btDynamicsWorld::addCollisionObject(
m_bodyUpdateRevisions.push_back(-1);
}
}
@@ -417,6 +450,11 @@ void b3GpuDynamicsWorld::removeRigidBody(btRigidBody* colObj)
{
m_cpuGpuSync = true;
btDynamicsWorld::removeCollisionObject(colObj);
m_bodyUpdateRevisions.resize(this->m_collisionObjects.size());
for (int i=0;i<m_bodyUpdateRevisions.size();i++)
{
m_bodyUpdateRevisions[i] = -1;
}
int bodyIndex = colObj->getUserIndex();
@@ -440,6 +478,11 @@ void b3GpuDynamicsWorld::removeCollisionObject(btCollisionObject* colObj)
{
m_cpuGpuSync = true;
btDynamicsWorld::removeCollisionObject(colObj);
m_bodyUpdateRevisions.resize(this->m_collisionObjects.size());
for (int i=0;i<m_bodyUpdateRevisions.size();i++)
{
m_bodyUpdateRevisions[i] = -1;
}
if (getNumCollisionObjects()==0)
{
m_uniqueShapes.resize(0);
@@ -511,28 +554,46 @@ void b3GpuDynamicsWorld::synchronizeSingleMotionState(btRigidBody* body)
}
}
void b3GpuDynamicsWorld::debugDrawWorld()
{
BT_PROFILE("debugDrawWorld");
btCollisionWorld::debugDrawWorld();
}
void b3GpuDynamicsWorld::addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies)
{
m_constraints.push_back(constraint);
constraint->setUserConstraintPtr(0);
m_constraints.push_back(constraint);
switch (constraint->getConstraintType())
{
case POINT2POINT_CONSTRAINT_TYPE:
{
b3Assert(constraint->getUserConstraintId()==-1);
btPoint2PointConstraint* p = (btPoint2PointConstraint*) constraint;
int rbA = p->getRigidBodyA().getUserIndex();
int rbB = p->getRigidBodyB().getUserIndex();
btVector3 pivotInB = p->getPivotInB();
if (rbB<=0)
{
pivotInB = p->getRigidBodyA().getWorldTransform()*p->getPivotInA();
rbB = m_staticBody->getUserIndex();
}
if (rbA>=0 && rbB>=0)
{
b3Point2PointConstraint* p2p = new b3Point2PointConstraint(rbA,rbB, (const b3Vector3&)p->getPivotInA(),(const b3Vector3&)p->getPivotInB());
b3Point2PointConstraint* p2p = new b3Point2PointConstraint(rbA,rbB, (const b3Vector3&)p->getPivotInA(),(const b3Vector3&)pivotInB);
p2p->setBreakingImpulseThreshold(p->getBreakingImpulseThreshold());
constraint->setUserConstraintPtr(p2p);
m_rigidBodyPipeline->addConstraint(p2p);
} else
{
constraint->setUserConstraintPtr(0);
b3Error("invalid body index in addConstraint.\n");
}
break;