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constraints between bodies merge constraint simulations (this fixes problems with deactivation/sleeping)

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This commit is contained in:
ejcoumans
2006-06-17 15:22:06 +00:00
parent f73244b36a
commit 51a645bb4a
5 changed files with 90 additions and 54 deletions
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83
Bullet/CollisionDispatch/CollisionDispatcher.cpp
View File

@@ -122,8 +122,10 @@ void CollisionDispatcher::ReleaseManifold(PersistentManifold* manifold)
//
// todo: this is random access, it can be walked 'cache friendly'!
//
void CollisionDispatcher::BuildAndProcessIslands(int numBodies, IslandCallback* callback)
void CollisionDispatcher::BuildAndProcessIslands(CollisionObjectArray& collisionObjects, IslandCallback* callback)
{
int numBodies = collisionObjects.size();
for (int islandId=0;islandId<numBodies;islandId++)
{
@@ -133,7 +135,25 @@ void CollisionDispatcher::BuildAndProcessIslands(int numBodies, IslandCallback*
bool allSleeping = true;
for (int i=0;i<GetNumManifolds();i++)
int i;
for (i=0;i<numBodies;i++)
{
CollisionObject* colObj0 = collisionObjects[i];
if (colObj0->m_islandTag1 == islandId)
{
if (colObj0->GetActivationState()== ACTIVE_TAG)
{
allSleeping = false;
}
if (colObj0->GetActivationState()== DISABLE_DEACTIVATION)
{
allSleeping = false;
}
}
}
for (i=0;i<GetNumManifolds();i++)
{
PersistentManifold* manifold = this->GetManifoldByIndexInternal(i);
@@ -141,25 +161,11 @@ void CollisionDispatcher::BuildAndProcessIslands(int numBodies, IslandCallback*
CollisionObject* colObj0 = static_cast<CollisionObject*>(manifold->GetBody0());
CollisionObject* colObj1 = static_cast<CollisionObject*>(manifold->GetBody1());
{
if (((colObj0) && (colObj0)->m_islandTag1 == (islandId)) ||
((colObj1) && (colObj1)->m_islandTag1 == (islandId)))
{
if (((colObj0) && (colObj0)->GetActivationState()== ACTIVE_TAG) ||
((colObj1) && (colObj1)->GetActivationState() == ACTIVE_TAG))
{
allSleeping = false;
}
if (((colObj0) && (colObj0)->GetActivationState()== DISABLE_DEACTIVATION) ||
((colObj1) && (colObj1)->GetActivationState() == DISABLE_DEACTIVATION))
{
allSleeping = false;
}
if (NeedsResponse(*colObj0,*colObj1))
islandmanifold.push_back(manifold);
}
@@ -167,51 +173,34 @@ void CollisionDispatcher::BuildAndProcessIslands(int numBodies, IslandCallback*
}
if (allSleeping)
{
//tag all as 'ISLAND_SLEEPING'
for (size_t i=0;i<islandmanifold.size();i++)
int i;
for (i=0;i<numBodies;i++)
{
PersistentManifold* manifold = islandmanifold[i];
CollisionObject* colObj0 = static_cast<CollisionObject*>(manifold->GetBody0());
CollisionObject* colObj1 = static_cast<CollisionObject*>(manifold->GetBody1());
if ((colObj0))
CollisionObject* colObj0 = collisionObjects[i];
if (colObj0->m_islandTag1 == islandId)
{
(colObj0)->SetActivationState( ISLAND_SLEEPING );
colObj0->SetActivationState( ISLAND_SLEEPING );
}
if ((colObj1))
{
(colObj1)->SetActivationState( ISLAND_SLEEPING);
}
}
} else
{
//tag all as 'ISLAND_SLEEPING'
for (size_t i=0;i<islandmanifold.size();i++)
int i;
for (i=0;i<numBodies;i++)
{
PersistentManifold* manifold = islandmanifold[i];
CollisionObject* body0 = (CollisionObject*)manifold->GetBody0();
CollisionObject* body1 = (CollisionObject*)manifold->GetBody1();
if (body0)
CollisionObject* colObj0 = collisionObjects[i];
if (colObj0->m_islandTag1 == islandId)
{
if ( body0->GetActivationState() == ISLAND_SLEEPING)
if ( colObj0->GetActivationState() == ISLAND_SLEEPING)
{
body0->SetActivationState( WANTS_DEACTIVATION);
colObj0->SetActivationState( WANTS_DEACTIVATION);
}
}
if (body1)
{
if ( body1->GetActivationState() == ISLAND_SLEEPING)
{
body1->SetActivationState(WANTS_DEACTIVATION);
}
}
}
/// Process the actual simulation, only if not sleeping/deactivated
if (islandmanifold.size())
{
callback->ProcessIsland(&islandmanifold[0],islandmanifold.size());

4
Bullet/CollisionDispatch/CollisionDispatcher.h
View File

@@ -26,7 +26,7 @@ subject to the following restrictions:
class IDebugDraw;
typedef std::vector<struct CollisionObject*> CollisionObjectArray;
struct CollisionAlgorithmCreateFunc
@@ -106,7 +106,7 @@ public:
virtual void ReleaseManifold(PersistentManifold* manifold);
virtual void BuildAndProcessIslands(int numBodies, IslandCallback* callback);
virtual void BuildAndProcessIslands(CollisionObjectArray& collisionObjects, IslandCallback* callback);
///allows the user to get contact point callbacks
virtual ManifoldResult* GetNewManifoldResult(CollisionObject* obj0,CollisionObject* obj1,PersistentManifold* manifold);

9
Bullet/CollisionDispatch/CollisionWorld.cpp
View File

@@ -76,6 +76,14 @@ void CollisionWorld::UpdateActivationState()
m_dispatcher->FindUnions();
}
void CollisionWorld::StoreIslandActivationState()
{
// put the islandId ('find' value) into m_tag
{
UnionFind& unionFind = m_dispatcher->GetUnionFind();
@@ -98,7 +106,6 @@ void CollisionWorld::UpdateActivationState()
index++;
}
}
}

19
Bullet/CollisionDispatch/CollisionWorld.h
View File

@@ -13,6 +13,7 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
/**
* @mainpage Bullet Documentation
*
@@ -57,19 +58,23 @@ subject to the following restrictions:
*
*/
#ifndef COLLISION_WORLD_H
#define COLLISION_WORLD_H
class CollisionShape;
class CollisionDispatcher;
class BroadphaseInterface;
#include "SimdVector3.h"
#include "SimdTransform.h"
#include "CollisionObject.h"
#include "CollisionDispatcher.h" //for definition of CollisionObjectArray
#include <vector>
///CollisionWorld is interface and container for the collision detection
class CollisionWorld
{
@@ -93,6 +98,7 @@ public:
virtual ~CollisionWorld();
virtual void UpdateActivationState();
virtual void StoreIslandActivationState();
BroadphaseInterface* GetBroadphase()
{
@@ -197,6 +203,17 @@ public:
void AddCollisionObject(CollisionObject* collisionObject);
CollisionObjectArray& GetCollisionObjectArray()
{
return m_collisionObjects;
}
const CollisionObjectArray& GetCollisionObjectArray() const
{
return m_collisionObjects;
}
void RemoveCollisionObject(CollisionObject* collisionObject);
virtual void PerformDiscreteCollisionDetection();

29
Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp
View File

@@ -80,8 +80,6 @@ RaycastVehicle::VehicleTuning gTuning;
#include "ConstraintSolver/Generic6DofConstraint.h"
//#include "BroadphaseCollision/QueryDispatcher.h"
//#include "BroadphaseCollision/QueryBox.h"
//todo: change this to allow dynamic registration of types!
@@ -506,6 +504,10 @@ void CcdPhysicsEnvironment::beginFrame()
bool CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
{
//don't simulate without timesubsteps
if (m_numTimeSubSteps<1)
return true;
//printf("proceedDeltaTime\n");
@@ -686,6 +688,27 @@ bool CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
m_collisionWorld->UpdateActivationState();
{
int i;
int numConstraints = m_constraints.size();
for (i=0;i< numConstraints ; i++ )
{
TypedConstraint* constraint = m_constraints[i];
const CollisionObject* colObj0 = &constraint->GetRigidBodyA();
const CollisionObject* colObj1 = &constraint->GetRigidBodyB();
if (((colObj0) && ((colObj0)->mergesSimulationIslands())) &&
((colObj1) && ((colObj1)->mergesSimulationIslands())))
{
GetDispatcher()->GetUnionFind().unite((colObj0)->m_islandTag1,
(colObj1)->m_islandTag1);
}
}
}
m_collisionWorld->StoreIslandActivationState();
//contacts
@@ -778,7 +801,7 @@ bool CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
#endif //USE_QUICKPROF
/// solve all the contact points and contact friction
GetDispatcher()->BuildAndProcessIslands(numRigidBodies,&solverCallback);
GetDispatcher()->BuildAndProcessIslands(m_collisionWorld->GetCollisionObjectArray(),&solverCallback);
#ifdef USE_QUICKPROF
Profiler::endBlock("BuildAndProcessIslands");