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Merge remote-tracking branch 'remotes/bulletphysics/master'

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# Conflicts:
#	src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.h
This commit is contained in:
nicolaichuk
2017-03-23 14:28:49 +03:00
parent 8e1b146568 59fcf7ca24
commit 5527e36139
155 changed files with 10273 additions and 5625 deletions
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11
src/BulletCollision/BroadphaseCollision/btDbvt.h
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@@ -942,7 +942,13 @@ inline void btDbvt::collideTV( const btDbvtNode* root,
ATTRIBUTE_ALIGNED16(btDbvtVolume) volume(vol);
btAlignedObjectArray<const btDbvtNode*> stack;
stack.resize(0);
#ifndef BT_DISABLE_STACK_TEMP_MEMORY
char tempmemory[SIMPLE_STACKSIZE*sizeof(const btDbvtNode*)];
stack.initializeFromBuffer(tempmemory, 0, SIMPLE_STACKSIZE);
#else
stack.reserve(SIMPLE_STACKSIZE);
#endif //BT_DISABLE_STACK_TEMP_MEMORY
stack.push_back(root);
do {
const btDbvtNode* n=stack[stack.size()-1];
@@ -1078,7 +1084,12 @@ inline void btDbvt::rayTest( const btDbvtNode* root,
int depth=1;
int treshold=DOUBLE_STACKSIZE-2;
char tempmemory[DOUBLE_STACKSIZE * sizeof(const btDbvtNode*)];
#ifndef BT_DISABLE_STACK_TEMP_MEMORY
stack.initializeFromBuffer(tempmemory, DOUBLE_STACKSIZE, DOUBLE_STACKSIZE);
#else//BT_DISABLE_STACK_TEMP_MEMORY
stack.resize(DOUBLE_STACKSIZE);
#endif //BT_DISABLE_STACK_TEMP_MEMORY
stack[0]=root;
btVector3 bounds[2];
do {

1
src/BulletCollision/CollisionDispatch/btCollisionObject.h
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@@ -139,6 +139,7 @@ public:
CF_DISABLE_SPU_COLLISION_PROCESSING = 64,//disable parallel/SPU processing
CF_HAS_CONTACT_STIFFNESS_DAMPING = 128,
CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR = 256,
CF_HAS_FRICTION_ANCHOR = 512,
};
enum CollisionObjectTypes

1
src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.h
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@@ -124,7 +124,6 @@ public:
btCollisionShape* getCollisionShapeByIndex(int index);
int getNumRigidBodies() const;
btCollisionObject* getRigidBodyByIndex(int index) const;
//int getNumConstraints() const;
int getNumBvhs() const;
btOptimizedBvh* getBvhByIndex(int index) const;

8
src/BulletCollision/CollisionDispatch/btManifoldResult.cpp
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@@ -146,7 +146,13 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
newPt.m_combinedContactStiffness1 = calculateCombinedContactStiffness(m_body0Wrap->getCollisionObject(),m_body1Wrap->getCollisionObject());
newPt.m_contactPointFlags |= BT_CONTACT_FLAG_CONTACT_STIFFNESS_DAMPING;
}
if ( (m_body0Wrap->getCollisionObject()->getCollisionFlags()& btCollisionObject::CF_HAS_FRICTION_ANCHOR) ||
(m_body1Wrap->getCollisionObject()->getCollisionFlags()& btCollisionObject::CF_HAS_FRICTION_ANCHOR))
{
newPt.m_contactPointFlags |= BT_CONTACT_FLAG_FRICTION_ANCHOR;
}
btPlaneSpace1(newPt.m_normalWorldOnB,newPt.m_lateralFrictionDir1,newPt.m_lateralFrictionDir2);

3
src/BulletCollision/CollisionShapes/btBox2dShape.h
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@@ -103,11 +103,12 @@ public:
btScalar minDimension = boxHalfExtents.getX();
if (minDimension>boxHalfExtents.getY())
minDimension = boxHalfExtents.getY();
setSafeMargin(minDimension);
m_shapeType = BOX_2D_SHAPE_PROXYTYPE;
btVector3 margin(getMargin(),getMargin(),getMargin());
m_implicitShapeDimensions = (boxHalfExtents * m_localScaling) - margin;
setSafeMargin(minDimension);
};
virtual void setMargin(btScalar collisionMargin)

4
src/BulletCollision/CollisionShapes/btBoxShape.cpp
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@@ -19,10 +19,10 @@ btBoxShape::btBoxShape( const btVector3& boxHalfExtents)
{
m_shapeType = BOX_SHAPE_PROXYTYPE;
setSafeMargin(boxHalfExtents);
btVector3 margin(getMargin(),getMargin(),getMargin());
m_implicitShapeDimensions = (boxHalfExtents * m_localScaling) - margin;
setSafeMargin(boxHalfExtents);
};

5
src/BulletCollision/CollisionShapes/btCylinderShape.cpp
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@@ -19,10 +19,11 @@ btCylinderShape::btCylinderShape (const btVector3& halfExtents)
:btConvexInternalShape(),
m_upAxis(1)
{
setSafeMargin(halfExtents);
btVector3 margin(getMargin(),getMargin(),getMargin());
m_implicitShapeDimensions = (halfExtents * m_localScaling) - margin;
setSafeMargin(halfExtents);
m_shapeType = CYLINDER_SHAPE_PROXYTYPE;
}

1
src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h
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@@ -41,6 +41,7 @@ enum btContactPointFlags
BT_CONTACT_FLAG_HAS_CONTACT_CFM=2,
BT_CONTACT_FLAG_HAS_CONTACT_ERP=4,
BT_CONTACT_FLAG_CONTACT_STIFFNESS_DAMPING = 8,
BT_CONTACT_FLAG_FRICTION_ANCHOR = 16,
};
/// ManifoldContactPoint collects and maintains persistent contactpoints.

1
src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp
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@@ -281,6 +281,7 @@ void btPersistentManifold::refreshContactPoints(const btTransform& trA,const btT
removeContactPoint(i);
} else
{
//todo: friction anchor may require the contact to be around a bit longer
//contact also becomes invalid when relative movement orthogonal to normal exceeds margin
projectedPoint = manifoldPoint.m_positionWorldOnA - manifoldPoint.m_normalWorldOnB * manifoldPoint.m_distance1;
projectedDifference = manifoldPoint.m_positionWorldOnB - projectedPoint;

55
src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
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@@ -185,39 +185,54 @@ public:
gContactEndedCallback(this);
}
}
void replaceContactPoint(const btManifoldPoint& newPoint,int insertIndex)
void replaceContactPoint(const btManifoldPoint& newPoint, int insertIndex)
{
btAssert(validContactDistance(newPoint));
#define MAINTAIN_PERSISTENCY 1
#ifdef MAINTAIN_PERSISTENCY
int lifeTime = m_pointCache[insertIndex].getLifeTime();
btScalar appliedImpulse = m_pointCache[insertIndex].m_appliedImpulse;
btScalar appliedLateralImpulse1 = m_pointCache[insertIndex].m_appliedImpulseLateral1;
btScalar appliedLateralImpulse2 = m_pointCache[insertIndex].m_appliedImpulseLateral2;
// bool isLateralFrictionInitialized = m_pointCache[insertIndex].m_lateralFrictionInitialized;
btAssert(lifeTime>=0);
void* cache = m_pointCache[insertIndex].m_userPersistentData;
m_pointCache[insertIndex] = newPoint;
m_pointCache[insertIndex].m_userPersistentData = cache;
m_pointCache[insertIndex].m_appliedImpulse = appliedImpulse;
m_pointCache[insertIndex].m_appliedImpulseLateral1 = appliedLateralImpulse1;
m_pointCache[insertIndex].m_appliedImpulseLateral2 = appliedLateralImpulse2;
int lifeTime = m_pointCache[insertIndex].getLifeTime();
btScalar appliedImpulse = m_pointCache[insertIndex].m_appliedImpulse;
btScalar appliedLateralImpulse1 = m_pointCache[insertIndex].m_appliedImpulseLateral1;
btScalar appliedLateralImpulse2 = m_pointCache[insertIndex].m_appliedImpulseLateral2;
bool replacePoint = true;
///we keep existing contact points for friction anchors
///if the friction force is within the Coulomb friction cone
if (newPoint.m_contactPointFlags & BT_CONTACT_FLAG_FRICTION_ANCHOR)
{
// printf("appliedImpulse=%f\n", appliedImpulse);
// printf("appliedLateralImpulse1=%f\n", appliedLateralImpulse1);
// printf("appliedLateralImpulse2=%f\n", appliedLateralImpulse2);
// printf("mu = %f\n", m_pointCache[insertIndex].m_combinedFriction);
btScalar mu = m_pointCache[insertIndex].m_combinedFriction;
btScalar eps = 0; //we could allow to enlarge or shrink the tolerance to check against the friction cone a bit, say 1e-7
btScalar a = appliedLateralImpulse1 * appliedLateralImpulse1 + appliedLateralImpulse2 * appliedLateralImpulse2;
btScalar b = eps + mu * appliedImpulse;
b = b * b;
replacePoint = (a) > (b);
}
if (replacePoint)
{
btAssert(lifeTime >= 0);
void* cache = m_pointCache[insertIndex].m_userPersistentData;
m_pointCache[insertIndex] = newPoint;
m_pointCache[insertIndex].m_userPersistentData = cache;
m_pointCache[insertIndex].m_appliedImpulse = appliedImpulse;
m_pointCache[insertIndex].m_appliedImpulseLateral1 = appliedLateralImpulse1;
m_pointCache[insertIndex].m_appliedImpulseLateral2 = appliedLateralImpulse2;
}
m_pointCache[insertIndex].m_lifeTime = lifeTime;
#else
clearUserCache(m_pointCache[insertIndex]);
m_pointCache[insertIndex] = newPoint;
#endif
}
bool validContactDistance(const btManifoldPoint& pt) const
{
return pt.m_distance1 <= getContactBreakingThreshold();