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added very basic debug drawing for vehicle wheels, and updated raycast in world to do ray-aabb instead of aabb-aabb

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This commit is contained in:
ejcoumans
2006-11-09 04:43:18 +00:00
parent 6d47d9492e
commit 5102b7ac60
4 changed files with 124 additions and 80 deletions
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88
Demos/VehicleDemo/VehicleDemo.cpp
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@@ -34,17 +34,17 @@ const int maxOverlap = 65535;
///notice that for higher-quality slow-moving vehicles, another approach might be better
///implementing explicit hinged-wheel constraints with cylinder collision, rather then raycasts
float gEngineForce = 0.f;
float maxEngineForce = 100.f;
float maxEngineForce = 3000.f;
float gVehicleSteering = 0.f;
float steeringIncrement = 0.1f;
float steeringIncrement = 0.04f;
float steeringClamp = 0.3f;
float wheelRadius = 0.5f;
float wheelWidth = 0.2f;
float wheelFriction = 100.f;
float suspensionStiffness = 10.f;
float suspensionDamping = 1.3f;
float suspensionCompression = 2.4f;
float rollInfluence = 0.1f;
float wheelWidth = 0.4f;
float wheelFriction = 1e30f;//1000;//1e30f;
float suspensionStiffness = 20.f;
float suspensionDamping = 2.3f;
float suspensionCompression = 4.4f;
float rollInfluence = 0.1f;//1.0f;
btVector3 wheelDirectionCS0(0,-1,0);
btVector3 wheelAxleCS(1,0,0);
btScalar suspensionRestLength(0.6);
@@ -76,6 +76,7 @@ m_cameraHeight(4.f),
m_minCameraDistance(3.f),
m_maxCameraDistance(10.f)
{
m_vehicle = 0;
m_cameraPosition = btVector3(30,30,30);
}
@@ -86,6 +87,7 @@ void VehicleDemo::setupPhysics()
btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50));
m_dynamicsWorld = new btDiscreteDynamicsWorld();
m_dynamicsWorld->setDebugDrawer(&debugDrawer);
#define USE_TRIMESH_GROUND 1
@@ -113,7 +115,9 @@ const float TRIANGLE_SIZE=20.f;
{
for (int j=0;j<NUM_VERTS_Y;j++)
{
gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,2.f*sinf((float)i)*cosf((float)j),(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
float wl = .2f;
float height = 20.f*sinf(float(i)*wl)*cosf(float(j)*wl);
gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,height,(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
}
}
@@ -150,9 +154,18 @@ const float TRIANGLE_SIZE=20.f;
localCreateRigidBody(0,tr,groundShape);
btCollisionShape* chassisShape = new btBoxShape(btVector3(1.f,0.5f,2.f));
btCompoundShape* compound = new btCompoundShape();
btTransform localTrans;
localTrans.setIdentity();
//localTrans effectively shifts the center of mass with respect to the chassis
localTrans.setOrigin(btVector3(0,1,0));
compound->addChildShape(localTrans,chassisShape);
tr.setOrigin(btVector3(0,0.f,0));
m_carChassis = localCreateRigidBody(800,tr,chassisShape);
m_carChassis = localCreateRigidBody(800,tr,compound);//chassisShape);
m_carChassis->setDamping(0.2,0.2);
clientResetScene();
@@ -167,46 +180,34 @@ const float TRIANGLE_SIZE=20.f;
m_dynamicsWorld->addVehicle(m_vehicle);
float connectionHeight = 1.2f;
btVector3 connectionPointCS0(CUBE_HALF_EXTENTS-(0.3*wheelWidth),0,2*CUBE_HALF_EXTENTS-wheelRadius);
btVector3 connectionPointCS0(CUBE_HALF_EXTENTS-(0.3*wheelWidth),connectionHeight,2*CUBE_HALF_EXTENTS-wheelRadius);
bool isFrontWheel=true;
int rightIndex = 0;
int upIndex = 1;
int forwardIndex = 2;
m_vehicle->setCoordinateSystem(rightIndex,upIndex,forwardIndex);
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),0,2*CUBE_HALF_EXTENTS-wheelRadius);
connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),connectionHeight,2*CUBE_HALF_EXTENTS-wheelRadius);
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),0,-2*CUBE_HALF_EXTENTS+wheelRadius);
connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),connectionHeight,-2*CUBE_HALF_EXTENTS+wheelRadius);
isFrontWheel = false;
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
connectionPointCS0 = btVector3(CUBE_HALF_EXTENTS-(0.3*wheelWidth),0,-2*CUBE_HALF_EXTENTS+wheelRadius);
connectionPointCS0 = btVector3(CUBE_HALF_EXTENTS-(0.3*wheelWidth),connectionHeight,-2*CUBE_HALF_EXTENTS+wheelRadius);
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
/* gVehicleConstraint->SetSuspensionStiffness(suspensionStiffness,0);
gVehicleConstraint->SetSuspensionStiffness(suspensionStiffness,1);
gVehicleConstraint->SetSuspensionStiffness(suspensionStiffness,2);
gVehicleConstraint->SetSuspensionStiffness(suspensionStiffness,3);
gVehicleConstraint->SetSuspensionDamping(suspensionDamping,0);
gVehicleConstraint->SetSuspensionDamping(suspensionDamping,1);
gVehicleConstraint->SetSuspensionDamping(suspensionDamping,2);
gVehicleConstraint->SetSuspensionDamping(suspensionDamping,3);
gVehicleConstraint->SetSuspensionCompression(suspensionCompression,0);
gVehicleConstraint->SetSuspensionCompression(suspensionCompression,1);
gVehicleConstraint->SetSuspensionCompression(suspensionCompression,2);
gVehicleConstraint->SetSuspensionCompression(suspensionCompression,3);
gVehicleConstraint->SetWheelFriction(wheelFriction,0);
gVehicleConstraint->SetWheelFriction(wheelFriction,1);
gVehicleConstraint->SetWheelFriction(wheelFriction,2);
gVehicleConstraint->SetWheelFriction(wheelFriction,3);
*/
for (int i=0;i<m_vehicle->getNumWheels();i++)
{
btWheelInfo& wheel = m_vehicle->getWheelInfo(i);
wheel.m_suspensionStiffness = suspensionStiffness;
wheel.m_wheelsDampingRelaxation = suspensionDamping;
wheel.m_wheelsDampingCompression = suspensionCompression;
wheel.m_frictionSlip = wheelFriction;
wheel.m_rollInfluence = rollInfluence;
}
}
@@ -338,6 +339,19 @@ void VehicleDemo::clientResetScene()
gEngineForce = 0.f;
gVehicleSteering = 0.f;
m_carChassis->setCenterOfMassTransform(btTransform::getIdentity());
m_carChassis->setLinearVelocity(btVector3(0,0,0));
m_carChassis->setAngularVelocity(btVector3(0,0,0));
m_dynamicsWorld->getBroadphase()->cleanProxyFromPairs(m_carChassis->getBroadphaseHandle());
if (m_vehicle)
{
m_vehicle->resetSuspension();
for (int i=0;i<m_vehicle->getNumWheels();i++)
{
//synchronize the wheels with the (interpolated) chassis worldtransform
m_vehicle->updateWheelTransform(i);
}
}
}

16
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -320,15 +320,7 @@ void btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& r
rayToTrans.setOrigin(rayToWorld);
//do culling based on aabb (rayFrom/rayTo)
btVector3 rayAabbMin = rayFromWorld;
btVector3 rayAabbMax = rayFromWorld;
rayAabbMin.setMin(rayToWorld);
rayAabbMax.setMax(rayToWorld);
/// brute force go over all objects. Once there is a broadphase, use that, or
/// add a raycast against aabb first.
/// go over all objects, and if the ray intersects their aabb, do a ray-shape query using convexCaster (CCD)
std::vector<btCollisionObject*>::iterator iter;
@@ -342,11 +334,9 @@ void btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& r
btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax);
//check aabb overlap
float hitLambda = 1.f;
float hitLambda = 1.f; //could use resultCallback.m_closestHitFraction, but needs testing
btVector3 hitNormal;
if (btRayAabb(rayAabbMin,rayAabbMax,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,hitNormal))
if (btRayAabb(rayFromWorld,rayToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,hitNormal))
{
rayTestSingle(rayFromTrans,rayToTrans,
collisionObject,

39
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -117,6 +117,43 @@ void btDiscreteDynamicsWorld::saveKinematicState(float timeStep)
}
void btDiscreteDynamicsWorld::synchronizeMotionStates()
{
//debug vehicle wheels
if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe)
{
for (unsigned int i=0;i<this->m_vehicles.size();i++)
{
for (int v=0;v<m_vehicles[i]->getNumWheels();v++)
{
btVector3 wheelColor(0,255,255);
if (m_vehicles[i]->getWheelInfo(v).m_raycastInfo.m_isInContact)
{
wheelColor.setValue(0,0,255);
} else
{
wheelColor.setValue(255,0,255);
}
//synchronize the wheels with the (interpolated) chassis worldtransform
m_vehicles[i]->updateWheelTransform(v);
btVector3 wheelPosWS = m_vehicles[i]->getWheelInfo(v).m_worldTransform.getOrigin();
btVector3 axle = btVector3(
m_vehicles[i]->getWheelInfo(v).m_worldTransform.getBasis()[0][m_vehicles[i]->getRightAxis()],
m_vehicles[i]->getWheelInfo(v).m_worldTransform.getBasis()[1][m_vehicles[i]->getRightAxis()],
m_vehicles[i]->getWheelInfo(v).m_worldTransform.getBasis()[2][m_vehicles[i]->getRightAxis()]);
//m_vehicles[i]->getWheelInfo(v).m_raycastInfo.m_wheelAxleWS
//debug wheels (cylinders)
m_debugDrawer->drawLine(wheelPosWS,wheelPosWS+axle,wheelColor);
m_debugDrawer->drawLine(wheelPosWS,m_vehicles[i]->getWheelInfo(v).m_raycastInfo.m_contactPointWS,wheelColor);
}
}
}
{
//todo: iterate over awake simulation islands!
for (unsigned int i=0;i<m_collisionObjects.size();i++)
@@ -157,6 +194,8 @@ void btDiscreteDynamicsWorld::synchronizeMotionStates()
}
}
}
}
}

1
src/LinearMath/btAabbUtil2.h
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@@ -66,6 +66,7 @@ SIMD_FORCE_INLINE int btOutcode(const btVector3& p,const btVector3& halfExtent)
(p.getZ() > halfExtent.getZ() ? 0x20 : 0x0);
}
SIMD_FORCE_INLINE bool btRayAabb(const btVector3& rayFrom,
const btVector3& rayTo,
const btVector3& aabbMin,