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

Minor fix in friction: calculate second friction direction based on un-scaling first friction direction (issue if it was scaled to zero)

Browse Source 
Force activation state of static objects to be ISLAND_SLEEPING, once they are added to the world
Add backwards compatibility option btDiscreteDynamicsWorld::setSynchronizeAllMotionStates, just in case only updating active objects broke someones code
Don't disable 3D box-box in box2ddemo
This commit is contained in:
erwin.coumans
2009-06-11 12:22:41 +00:00
parent 3e5fc86a6c
commit 6c80353556
4 changed files with 41 additions and 59 deletions
Download Patch File Download Diff File Expand all files Collapse all files

38
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
View File

@@ -64,7 +64,8 @@ btDiscreteDynamicsWorld::btDiscreteDynamicsWorld(btDispatcher* dispatcher,btBroa
m_constraintSolver(constraintSolver),
m_gravity(0,-10,0),
m_localTime(btScalar(1.)/btScalar(60.)),
m_profileTimings(0)
m_profileTimings(0),
m_synchronizeAllMotionStates(false)
{
if (!m_constraintSolver)
{
@@ -264,8 +265,19 @@ void btDiscreteDynamicsWorld::synchronizeSingleMotionState(btRigidBody* body)
void btDiscreteDynamicsWorld::synchronizeMotionStates()
{
BT_PROFILE("synchronizeMotionStates");
if (m_synchronizeAllMotionStates)
{
//todo: iterate over awake simulation islands!
//iterate over all collision objects
for ( int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
btRigidBody* body = btRigidBody::upcast(colObj);
if (body)
synchronizeSingleMotionState(body);
}
} else
{
//iterate over all active rigid bodies
for ( int i=0;i<m_nonStaticRigidBodies.size();i++)
{
btRigidBody* body = m_nonStaticRigidBodies[i];
@@ -273,21 +285,6 @@ void btDiscreteDynamicsWorld::synchronizeMotionStates()
synchronizeSingleMotionState(body);
}
}
/*
if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe)
{
for ( int i=0;i<this->m_vehicles.size();i++)
{
for (int v=0;v<m_vehicles[i]->getNumWheels();v++)
{
//synchronize the wheels with the (interpolated) chassis worldtransform
m_vehicles[i]->updateWheelTransform(v,true);
}
}
}
*/
}
@@ -438,6 +435,9 @@ void btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body)
if (!body->isStaticObject())
{
m_nonStaticRigidBodies.push_back(body);
} else
{
body->setActivationState(ISLAND_SLEEPING);
}
bool isDynamic = !(body->isStaticObject() || body->isKinematicObject());
@@ -460,6 +460,10 @@ void btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body, short group, short
if (!body->isStaticObject())
{
m_nonStaticRigidBodies.push_back(body);
}
else
{
body->setActivationState(ISLAND_SLEEPING);
}
addCollisionObject(body,group,mask);
}