Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

remove btContinuousDynamicsWorld, it is obsolete and was never completed.

Browse Source 
If you need tunneling prevention, one option is to use the CCD motion clamping in btDiscreteDynamicsWorld. See also Bullet/Demos/CcdPhysicsDemo.
You can use an embedded sphere that prevents tunneling, using the following settings:

		body->setCcdMotionThreshold(0.5);
		body->setCcdSweptSphereRadius(0.9f);


Add a camera zoom setting for the demos, thanks to ejtttje, fixes Issue 543
This commit is contained in:
erwin.coumans
2011-09-15 18:47:13 +00:00
parent 69a932f13e
commit 654fe7872a
9 changed files with 10 additions and 256 deletions
Download Patch File Download Diff File Expand all files Collapse all files

196
src/BulletDynamics/Dynamics/btContinuousDynamicsWorld.cpp
View File

@@ -1,196 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2007 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btContinuousDynamicsWorld.h"
#include "LinearMath/btQuickprof.h"
//collision detection
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h"
//rigidbody & constraints
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
#include <stdio.h>
btContinuousDynamicsWorld::btContinuousDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration)
:btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration)
{
}
btContinuousDynamicsWorld::~btContinuousDynamicsWorld()
{
}
void btContinuousDynamicsWorld::internalSingleStepSimulation( btScalar timeStep)
{
startProfiling(timeStep);
if(0 != m_internalPreTickCallback) {
(*m_internalPreTickCallback)(this, timeStep);
}
///update aabbs information
updateAabbs();
//static int frame=0;
// printf("frame %d\n",frame++);
///apply gravity, predict motion
predictUnconstraintMotion(timeStep);
btDispatcherInfo& dispatchInfo = getDispatchInfo();
dispatchInfo.m_timeStep = timeStep;
dispatchInfo.m_stepCount = 0;
dispatchInfo.m_debugDraw = getDebugDrawer();
///perform collision detection
performDiscreteCollisionDetection();
calculateSimulationIslands();
getSolverInfo().m_timeStep = timeStep;
///solve contact and other joint constraints
solveConstraints(getSolverInfo());
///CallbackTriggers();
calculateTimeOfImpacts(timeStep);
btScalar toi = dispatchInfo.m_timeOfImpact;
// if (toi < 1.f)
// printf("toi = %f\n",toi);
if (toi < 0.f)
printf("toi = %f\n",toi);
///integrate transforms
integrateTransforms(timeStep * toi);
///update vehicle simulation
updateActions(timeStep);
updateActivationState( timeStep );
if(0 != m_internalTickCallback) {
(*m_internalTickCallback)(this, timeStep);
}
}
void btContinuousDynamicsWorld::calculateTimeOfImpacts(btScalar timeStep)
{
///these should be 'temporal' aabbs!
updateTemporalAabbs(timeStep);
///'toi' is the global smallest time of impact. However, we just calculate the time of impact for each object individually.
///so we handle the case moving versus static properly, and we cheat for moving versus moving
btScalar toi = 1.f;
btDispatcherInfo& dispatchInfo = getDispatchInfo();
dispatchInfo.m_timeStep = timeStep;
dispatchInfo.m_timeOfImpact = 1.f;
dispatchInfo.m_stepCount = 0;
dispatchInfo.m_dispatchFunc = btDispatcherInfo::DISPATCH_CONTINUOUS;
///calculate time of impact for overlapping pairs
btDispatcher* dispatcher = getDispatcher();
if (dispatcher)
dispatcher->dispatchAllCollisionPairs(m_broadphasePairCache->getOverlappingPairCache(),dispatchInfo,m_dispatcher1);
toi = dispatchInfo.m_timeOfImpact;
dispatchInfo.m_dispatchFunc = btDispatcherInfo::DISPATCH_DISCRETE;
}
void btContinuousDynamicsWorld::updateTemporalAabbs(btScalar timeStep)
{
btVector3 temporalAabbMin,temporalAabbMax;
for ( int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
btRigidBody* body = btRigidBody::upcast(colObj);
if (body)
{
body->getCollisionShape()->getAabb(m_collisionObjects[i]->getWorldTransform(),temporalAabbMin,temporalAabbMax);
const btVector3& linvel = body->getLinearVelocity();
//make the AABB temporal
btScalar temporalAabbMaxx = temporalAabbMax.getX();
btScalar temporalAabbMaxy = temporalAabbMax.getY();
btScalar temporalAabbMaxz = temporalAabbMax.getZ();
btScalar temporalAabbMinx = temporalAabbMin.getX();
btScalar temporalAabbMiny = temporalAabbMin.getY();
btScalar temporalAabbMinz = temporalAabbMin.getZ();
// add linear motion
btVector3 linMotion = linvel*timeStep;
if (linMotion.x() > 0.f)
temporalAabbMaxx += linMotion.x();
else
temporalAabbMinx += linMotion.x();
if (linMotion.y() > 0.f)
temporalAabbMaxy += linMotion.y();
else
temporalAabbMiny += linMotion.y();
if (linMotion.z() > 0.f)
temporalAabbMaxz += linMotion.z();
else
temporalAabbMinz += linMotion.z();
//add conservative angular motion
btScalar angularMotion(0);// = angvel.length() * GetAngularMotionDisc() * timeStep;
btVector3 angularMotion3d(angularMotion,angularMotion,angularMotion);
temporalAabbMin = btVector3(temporalAabbMinx,temporalAabbMiny,temporalAabbMinz);
temporalAabbMax = btVector3(temporalAabbMaxx,temporalAabbMaxy,temporalAabbMaxz);
temporalAabbMin -= angularMotion3d;
temporalAabbMax += angularMotion3d;
m_broadphasePairCache->setAabb(body->getBroadphaseHandle(),temporalAabbMin,temporalAabbMax,m_dispatcher1);
}
}
//update aabb (of all moved objects)
m_broadphasePairCache->calculateOverlappingPairs(m_dispatcher1);
}

46
src/BulletDynamics/Dynamics/btContinuousDynamicsWorld.h
View File

@@ -1,46 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2007 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_CONTINUOUS_DYNAMICS_WORLD_H
#define BT_CONTINUOUS_DYNAMICS_WORLD_H
#include "btDiscreteDynamicsWorld.h"
///btContinuousDynamicsWorld adds optional (per object) continuous collision detection for fast moving objects to the btDiscreteDynamicsWorld.
///This copes with fast moving objects that otherwise would tunnel/miss collisions.
///Under construction, don't use yet! Please use btDiscreteDynamicsWorld instead.
class btContinuousDynamicsWorld : public btDiscreteDynamicsWorld
{
void updateTemporalAabbs(btScalar timeStep);
public:
btContinuousDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
virtual ~btContinuousDynamicsWorld();
///time stepping with calculation of time of impact for selected fast moving objects
virtual void internalSingleStepSimulation( btScalar timeStep);
virtual void calculateTimeOfImpacts(btScalar timeStep);
virtual btDynamicsWorldType getWorldType() const
{
return BT_CONTINUOUS_DYNAMICS_WORLD;
}
};
#endif //BT_CONTINUOUS_DYNAMICS_WORLD_H

2
src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h
View File

@@ -23,7 +23,7 @@ class btOverlappingPairCache;
class btConstraintSolver;
///The btSimpleDynamicsWorld serves as unit-test and to verify more complicated and optimized dynamics worlds.
///Please use btDiscreteDynamicsWorld instead (or btContinuousDynamicsWorld once it is finished).
///Please use btDiscreteDynamicsWorld instead
class btSimpleDynamicsWorld : public btDynamicsWorld
{
protected: