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Fix broken CDTestFramework

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Avoid crash in BulletWorldImporter, ignoring 'invalid' constraints between two static bodies
Use a bitfield for btCollisionObject::CollisionObjectTypes (to allow custom types that are derived from build-in types such as btRigidBody)
Revert/improve softbody debug rendering
This commit is contained in:
erwin.coumans
2010-08-15 20:45:55 +00:00
parent 4f9b450200
commit 844a54a409
14 changed files with 187 additions and 158 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
Demos/AllBulletDemos/CMakeLists.txt
View File

@@ -48,6 +48,9 @@ SET(AllBulletDemos_SRCS
../ForkLiftDemo/ForkLiftDemo.cpp
../SoftDemo/SoftDemo.cpp
../ConstraintDemo/ConstraintDemo.cpp
../Benchmarks/BenchmarkDemo.cpp
../Box2dDemo/Box2dDemo.cpp
)
IF (WIN32)

10
Demos/AllBulletDemos/DemoEntries.cpp
View File

@@ -30,8 +30,10 @@ subject to the following restrictions:
#include "../GjkConvexCastDemo/LinearConvexCastDemo.h"
#include "../ForkLiftDemo/ForkLiftDemo.h"
#include "../ConstraintDemo/ConstraintDemo.h"
//#include "../Benchmarks/BenchmarkDemo.h"
#include "../Benchmarks/BenchmarkDemo.h"
#include "../SoftDemo/SoftDemo.h"
#include "../Box2dDemo/Box2dDemo.h"
#include "GLDebugFont.h"
#include "GlutStuff.h"//OpenGL stuff
@@ -104,7 +106,7 @@ public:
btDemoEntry g_demoEntries[] =
{
{"Box2dDemo",Box2dDemo::Create},
{"ConstraintDemo",ConstraintDemo::Create},
{"ForkLift Demo",ForkLiftDemo::Create},
{"Ragdoll Demo",RagdollDemo::Create},
@@ -122,7 +124,7 @@ btDemoEntry g_demoEntries[] =
{"SoftBody Cloth Attach",SoftDemo5::Create},
{"SoftBody Cloth",SoftDemo0::Create},
// {"SoftBody Volume",SoftDemo2::Create},
{"SoftBody Pressure",SoftDemo1::Create},
{"SoftBody Cluster Car",SoftDemo24::Create},
@@ -159,7 +161,7 @@ btDemoEntry g_demoEntries[] =
//{"BspDemo", BspDemo::Create},
// {"Raytracer Test",Raytracer::Create},
// {"GjkConvexCast",LinearConvexCastDemo::Create},
// {"Benchmark 3000 FALL",BenchmarkDemo1::Create},
{"Benchmark 3000 FALL",BenchmarkDemo1::Create},
// {"Benchmark 1000 STACK",BenchmarkDemo2::Create},
// {"Benchmark 136 RAGDOLLS",BenchmarkDemo3::Create},
// {"Benchmark 1000 CONVEX",BenchmarkDemo4::Create},

4
Demos/AllBulletDemos/Main.cpp
View File

@@ -75,8 +75,8 @@ void setDefaultSettings()
viewY = 0.0f;
framePeriod = 6;//16;//16;//todo: test if this value should be 0
width = 800;//640;
height = 600;//1024;//480;
width = 1280;
height = 768;//480;
iterationCount = 10;
gDrawAabb=0;
gWireFrame=0;

1
Demos/SoftDemo/SoftDemo.cpp
View File

@@ -1454,6 +1454,7 @@ void SoftDemo::renderme()
{
btIDebugDraw* idraw=m_dynamicsWorld->getDebugDrawer();
glDisable(GL_TEXTURE_2D);
m_dynamicsWorld->debugDrawWorld();
/* Bodies */

3
Extras/CDTestFramework/BulletSAPCompleteBoxPruningTest.cpp
View File

@@ -379,7 +379,7 @@ BulletSAPCompleteBoxPruningTest::BulletSAPCompleteBoxPruningTest(int numBoxes,in
methodname = "btSimpleBroadphase+btNullPairCache";
break;
case 6:
/* case 6:
{
methodname = "btMultiSapBroadphase";
btMultiSapBroadphase* multiSap = new btMultiSapBroadphase(maxNumBoxes);
@@ -416,6 +416,7 @@ BulletSAPCompleteBoxPruningTest::BulletSAPCompleteBoxPruningTest(int numBoxes,in
}
break;
*/
case 7:
{
btDbvtBroadphase* pbp=new btDbvtBroadphase();

78
Extras/CDTestFramework/CDTestFramework.sln
View File

@@ -1,26 +1,28 @@
Microsoft Visual Studio Solution File, Format Version 9.00
# Visual Studio 2005
Microsoft Visual Studio Solution File, Format Version 10.00
# Visual Studio 2008
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "CDTestFramework", "CDTestFramework.vcproj", "{0565DB39-45CC-416E-B549-BFC24F2666D1}"
ProjectSection(ProjectDependencies) = postProject
{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE} = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
{3AD0C16A-DCAC-442E-9E17-A911A717EB4C} = {3AD0C16A-DCAC-442E-9E17-A911A717EB4C}
{DBE44CA3-2912-4441-8D99-AA2242688AD2} = {DBE44CA3-2912-4441-8D99-AA2242688AD2}
{FDA229FA-D080-4ABB-ADBD-35AD30155467} = {FDA229FA-D080-4ABB-ADBD-35AD30155467}
EndProjectSection
EndProject
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "Opcode", "Opcode\Opcode.vcproj", "{DBE44CA3-2912-4441-8D99-AA2242688AD2}"
EndProject
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "libbulletmath", "..\..\msvc\8\libbulletmath.vcproj", "{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}"
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "LinearMath", "..\..\win7_32\src\LinearMath\LinearMath.vcproj", "{FDA229FA-D080-4ABB-ADBD-35AD30155467}"
EndProject
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "libbulletcollision", "..\..\msvc\8\libbulletcollision.vcproj", "{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}"
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "BulletCollision", "..\..\win7_32\src\BulletCollision\BulletCollision.vcproj", "{3AD0C16A-DCAC-442E-9E17-A911A717EB4C}"
EndProject
Global
GlobalSection(SolutionConfigurationPlatforms) = preSolution
Debug|Win32 = Debug|Win32
DebugDll|Win32 = DebugDll|Win32
DebugDoublePrecision|Win32 = DebugDoublePrecision|Win32
MinSizeRel|Win32 = MinSizeRel|Win32
Release|Win32 = Release|Win32
ReleaseDll|Win32 = ReleaseDll|Win32
ReleaseDoublePrecision|Win32 = ReleaseDoublePrecision|Win32
RelWithDebInfo|Win32 = RelWithDebInfo|Win32
EndGlobalSection
GlobalSection(ProjectConfigurationPlatforms) = postSolution
{0565DB39-45CC-416E-B549-BFC24F2666D1}.Debug|Win32.ActiveCfg = Debug|Win32
@@ -29,48 +31,64 @@ Global
{0565DB39-45CC-416E-B549-BFC24F2666D1}.DebugDll|Win32.Build.0 = Debug|Win32
{0565DB39-45CC-416E-B549-BFC24F2666D1}.DebugDoublePrecision|Win32.ActiveCfg = Debug|Win32
{0565DB39-45CC-416E-B549-BFC24F2666D1}.DebugDoublePrecision|Win32.Build.0 = Debug|Win32
{0565DB39-45CC-416E-B549-BFC24F2666D1}.MinSizeRel|Win32.ActiveCfg = Release|Win32
{0565DB39-45CC-416E-B549-BFC24F2666D1}.MinSizeRel|Win32.Build.0 = Release|Win32
{0565DB39-45CC-416E-B549-BFC24F2666D1}.Release|Win32.ActiveCfg = Release|Win32
{0565DB39-45CC-416E-B549-BFC24F2666D1}.Release|Win32.Build.0 = Release|Win32
{0565DB39-45CC-416E-B549-BFC24F2666D1}.ReleaseDll|Win32.ActiveCfg = Release|Win32
{0565DB39-45CC-416E-B549-BFC24F2666D1}.ReleaseDll|Win32.Build.0 = Release|Win32
{0565DB39-45CC-416E-B549-BFC24F2666D1}.ReleaseDoublePrecision|Win32.ActiveCfg = Release|Win32
{0565DB39-45CC-416E-B549-BFC24F2666D1}.ReleaseDoublePrecision|Win32.Build.0 = Release|Win32
{0565DB39-45CC-416E-B549-BFC24F2666D1}.RelWithDebInfo|Win32.ActiveCfg = Release|Win32
{0565DB39-45CC-416E-B549-BFC24F2666D1}.RelWithDebInfo|Win32.Build.0 = Release|Win32
{DBE44CA3-2912-4441-8D99-AA2242688AD2}.Debug|Win32.ActiveCfg = Debug|Win32
{DBE44CA3-2912-4441-8D99-AA2242688AD2}.Debug|Win32.Build.0 = Debug|Win32
{DBE44CA3-2912-4441-8D99-AA2242688AD2}.DebugDll|Win32.ActiveCfg = Debug|Win32
{DBE44CA3-2912-4441-8D99-AA2242688AD2}.DebugDll|Win32.Build.0 = Debug|Win32
{DBE44CA3-2912-4441-8D99-AA2242688AD2}.DebugDoublePrecision|Win32.ActiveCfg = Debug|Win32
{DBE44CA3-2912-4441-8D99-AA2242688AD2}.DebugDoublePrecision|Win32.Build.0 = Debug|Win32
{DBE44CA3-2912-4441-8D99-AA2242688AD2}.MinSizeRel|Win32.ActiveCfg = Debug|Win32
{DBE44CA3-2912-4441-8D99-AA2242688AD2}.MinSizeRel|Win32.Build.0 = Debug|Win32
{DBE44CA3-2912-4441-8D99-AA2242688AD2}.Release|Win32.ActiveCfg = Release|Win32
{DBE44CA3-2912-4441-8D99-AA2242688AD2}.Release|Win32.Build.0 = Release|Win32
{DBE44CA3-2912-4441-8D99-AA2242688AD2}.ReleaseDll|Win32.ActiveCfg = Release|Win32
{DBE44CA3-2912-4441-8D99-AA2242688AD2}.ReleaseDll|Win32.Build.0 = Release|Win32
{DBE44CA3-2912-4441-8D99-AA2242688AD2}.ReleaseDoublePrecision|Win32.ActiveCfg = Release|Win32
{DBE44CA3-2912-4441-8D99-AA2242688AD2}.ReleaseDoublePrecision|Win32.Build.0 = Release|Win32
{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.Debug|Win32.ActiveCfg = Debug|Win32
{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.Debug|Win32.Build.0 = Debug|Win32
{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.DebugDll|Win32.ActiveCfg = DebugDll|Win32
{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.DebugDll|Win32.Build.0 = DebugDll|Win32
{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.DebugDoublePrecision|Win32.ActiveCfg = DebugDoublePrecision|Win32
{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.DebugDoublePrecision|Win32.Build.0 = DebugDoublePrecision|Win32
{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.Release|Win32.ActiveCfg = Release|Win32
{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.Release|Win32.Build.0 = Release|Win32
{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.ReleaseDll|Win32.ActiveCfg = ReleaseDll|Win32
{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.ReleaseDll|Win32.Build.0 = ReleaseDll|Win32
{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.ReleaseDoublePrecision|Win32.ActiveCfg = ReleaseDoublePrecision|Win32
{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.ReleaseDoublePrecision|Win32.Build.0 = ReleaseDoublePrecision|Win32
{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.Debug|Win32.ActiveCfg = Debug|Win32
{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.Debug|Win32.Build.0 = Debug|Win32
{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.DebugDll|Win32.ActiveCfg = DebugDll|Win32
{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.DebugDll|Win32.Build.0 = DebugDll|Win32
{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.DebugDoublePrecision|Win32.ActiveCfg = DebugDoublePrecision|Win32
{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.DebugDoublePrecision|Win32.Build.0 = DebugDoublePrecision|Win32
{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.Release|Win32.ActiveCfg = Release|Win32
{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.Release|Win32.Build.0 = Release|Win32
{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.ReleaseDll|Win32.ActiveCfg = ReleaseDll|Win32
{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.ReleaseDll|Win32.Build.0 = ReleaseDll|Win32
{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.ReleaseDoublePrecision|Win32.ActiveCfg = ReleaseDoublePrecision|Win32
{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.ReleaseDoublePrecision|Win32.Build.0 = ReleaseDoublePrecision|Win32
{DBE44CA3-2912-4441-8D99-AA2242688AD2}.RelWithDebInfo|Win32.ActiveCfg = Release|Win32
{DBE44CA3-2912-4441-8D99-AA2242688AD2}.RelWithDebInfo|Win32.Build.0 = Release|Win32
{FDA229FA-D080-4ABB-ADBD-35AD30155467}.Debug|Win32.ActiveCfg = Debug|Win32
{FDA229FA-D080-4ABB-ADBD-35AD30155467}.Debug|Win32.Build.0 = Debug|Win32
{FDA229FA-D080-4ABB-ADBD-35AD30155467}.DebugDll|Win32.ActiveCfg = Debug|Win32
{FDA229FA-D080-4ABB-ADBD-35AD30155467}.DebugDll|Win32.Build.0 = Debug|Win32
{FDA229FA-D080-4ABB-ADBD-35AD30155467}.DebugDoublePrecision|Win32.ActiveCfg = Debug|Win32
{FDA229FA-D080-4ABB-ADBD-35AD30155467}.DebugDoublePrecision|Win32.Build.0 = Debug|Win32
{FDA229FA-D080-4ABB-ADBD-35AD30155467}.MinSizeRel|Win32.ActiveCfg = MinSizeRel|Win32
{FDA229FA-D080-4ABB-ADBD-35AD30155467}.MinSizeRel|Win32.Build.0 = MinSizeRel|Win32
{FDA229FA-D080-4ABB-ADBD-35AD30155467}.Release|Win32.ActiveCfg = Release|Win32
{FDA229FA-D080-4ABB-ADBD-35AD30155467}.Release|Win32.Build.0 = Release|Win32
{FDA229FA-D080-4ABB-ADBD-35AD30155467}.ReleaseDll|Win32.ActiveCfg = Release|Win32
{FDA229FA-D080-4ABB-ADBD-35AD30155467}.ReleaseDll|Win32.Build.0 = Release|Win32
{FDA229FA-D080-4ABB-ADBD-35AD30155467}.ReleaseDoublePrecision|Win32.ActiveCfg = Release|Win32
{FDA229FA-D080-4ABB-ADBD-35AD30155467}.ReleaseDoublePrecision|Win32.Build.0 = Release|Win32
{FDA229FA-D080-4ABB-ADBD-35AD30155467}.RelWithDebInfo|Win32.ActiveCfg = RelWithDebInfo|Win32
{FDA229FA-D080-4ABB-ADBD-35AD30155467}.RelWithDebInfo|Win32.Build.0 = RelWithDebInfo|Win32
{3AD0C16A-DCAC-442E-9E17-A911A717EB4C}.Debug|Win32.ActiveCfg = Debug|Win32
{3AD0C16A-DCAC-442E-9E17-A911A717EB4C}.Debug|Win32.Build.0 = Debug|Win32
{3AD0C16A-DCAC-442E-9E17-A911A717EB4C}.DebugDll|Win32.ActiveCfg = Debug|Win32
{3AD0C16A-DCAC-442E-9E17-A911A717EB4C}.DebugDll|Win32.Build.0 = Debug|Win32
{3AD0C16A-DCAC-442E-9E17-A911A717EB4C}.DebugDoublePrecision|Win32.ActiveCfg = Debug|Win32
{3AD0C16A-DCAC-442E-9E17-A911A717EB4C}.DebugDoublePrecision|Win32.Build.0 = Debug|Win32
{3AD0C16A-DCAC-442E-9E17-A911A717EB4C}.MinSizeRel|Win32.ActiveCfg = MinSizeRel|Win32
{3AD0C16A-DCAC-442E-9E17-A911A717EB4C}.MinSizeRel|Win32.Build.0 = MinSizeRel|Win32
{3AD0C16A-DCAC-442E-9E17-A911A717EB4C}.Release|Win32.ActiveCfg = Release|Win32
{3AD0C16A-DCAC-442E-9E17-A911A717EB4C}.Release|Win32.Build.0 = Release|Win32
{3AD0C16A-DCAC-442E-9E17-A911A717EB4C}.ReleaseDll|Win32.ActiveCfg = Release|Win32
{3AD0C16A-DCAC-442E-9E17-A911A717EB4C}.ReleaseDll|Win32.Build.0 = Release|Win32
{3AD0C16A-DCAC-442E-9E17-A911A717EB4C}.ReleaseDoublePrecision|Win32.ActiveCfg = Release|Win32
{3AD0C16A-DCAC-442E-9E17-A911A717EB4C}.ReleaseDoublePrecision|Win32.Build.0 = Release|Win32
{3AD0C16A-DCAC-442E-9E17-A911A717EB4C}.RelWithDebInfo|Win32.ActiveCfg = RelWithDebInfo|Win32
{3AD0C16A-DCAC-442E-9E17-A911A717EB4C}.RelWithDebInfo|Win32.Build.0 = RelWithDebInfo|Win32
EndGlobalSection
GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE

13
Extras/CDTestFramework/CDTestFramework.vcproj
View File

@@ -1,11 +1,12 @@
<?xml version="1.0" encoding="Windows-1252"?>
<VisualStudioProject
ProjectType="Visual C++"
Version="8.00"
Version="9.00"
Name="CDTestFramework"
ProjectGUID="{0565DB39-45CC-416E-B549-BFC24F2666D1}"
RootNamespace="CDTestFramework"
Keyword="Win32Proj"
TargetFrameworkVersion="131072"
>
<Platforms>
<Platform
@@ -69,6 +70,8 @@
GenerateDebugInformation="true"
ProgramDatabaseFile="$(OutDir)/CDTestFramework.pdb"
SubSystem="1"
RandomizedBaseAddress="1"
DataExecutionPrevention="0"
TargetMachine="1"
/>
<Tool
@@ -89,9 +92,6 @@
<Tool
Name="VCAppVerifierTool"
/>
<Tool
Name="VCWebDeploymentTool"
/>
<Tool
Name="VCPostBuildEventTool"
/>
@@ -154,6 +154,8 @@
SubSystem="1"
OptimizeReferences="2"
EnableCOMDATFolding="2"
RandomizedBaseAddress="1"
DataExecutionPrevention="0"
TargetMachine="1"
/>
<Tool
@@ -174,9 +176,6 @@
<Tool
Name="VCAppVerifierTool"
/>
<Tool
Name="VCWebDeploymentTool"
/>
<Tool
Name="VCPostBuildEventTool"
/>

15
Extras/CDTestFramework/Opcode/Opcode.vcproj
View File

@@ -1,9 +1,10 @@
<?xml version="1.0" encoding="Windows-1252"?>
<VisualStudioProject
ProjectType="Visual C++"
Version="8,00"
Version="9.00"
Name="Opcode"
ProjectGUID="{DBE44CA3-2912-4441-8D99-AA2242688AD2}"
TargetFrameworkVersion="131072"
>
<Platforms>
<Platform
@@ -54,7 +55,7 @@
PreprocessorDefinitions="WIN32;NDEBUG;_WINDOWS;_USRDLL;OPCODE_EXPORTS"
StringPooling="true"
ExceptionHandling="0"
RuntimeLibrary="2"
RuntimeLibrary="0"
EnableFunctionLevelLinking="true"
UsePrecompiledHeader="2"
PrecompiledHeaderThrough="stdafx.h"
@@ -83,6 +84,8 @@
LinkIncremental="1"
SuppressStartupBanner="true"
ProgramDatabaseFile=".\Release/Opcode.pdb"
RandomizedBaseAddress="1"
DataExecutionPrevention="0"
ImportLibrary=".\Release/Opcode.lib"
TargetMachine="1"
/>
@@ -104,9 +107,6 @@
<Tool
Name="VCAppVerifierTool"
/>
<Tool
Name="VCWebDeploymentTool"
/>
<Tool
Name="VCPostBuildEventTool"
/>
@@ -180,6 +180,8 @@
SuppressStartupBanner="true"
GenerateDebugInformation="true"
ProgramDatabaseFile=".\Debug/Opcode_D.pdb"
RandomizedBaseAddress="1"
DataExecutionPrevention="0"
ImportLibrary=".\Debug/Opcode_D.lib"
TargetMachine="1"
/>
@@ -201,9 +203,6 @@
<Tool
Name="VCAppVerifierTool"
/>
<Tool
Name="VCWebDeploymentTool"
/>
<Tool
Name="VCPostBuildEventTool"
/>

4
Extras/CDTestFramework/Profiling.h
View File

@@ -51,12 +51,12 @@ subject to the following restrictions:
inline_ void Start()
{
QueryPerformanceCounter((LARGE_INTEGER*)&mCounter0);
StartProfile(mCycles);
//StartProfile(mCycles);
}
inline_ void End()
{
EndProfile(mCycles);
//EndProfile(mCycles);
QueryPerformanceCounter((LARGE_INTEGER*)&mCounter1);
}

2
Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp
View File

@@ -684,6 +684,8 @@ bool btBulletWorldImporter::convertAllObjects( bParse::btBulletFile* bulletFile
if (!rbB)
rbB = &getFixedBody();
}
if (!rbA && !rbB)
continue;
btTypedConstraint* constraint = 0;

9
src/BulletCollision/CollisionDispatch/btCollisionObject.h
View File

@@ -128,12 +128,13 @@ public:
enum CollisionObjectTypes
{
CO_COLLISION_OBJECT =1,
CO_RIGID_BODY,
CO_RIGID_BODY=2,
///CO_GHOST_OBJECT keeps track of all objects overlapping its AABB and that pass its collision filter
///It is useful for collision sensors, explosion objects, character controller etc.
CO_GHOST_OBJECT,
CO_SOFT_BODY,
CO_HF_FLUID
CO_GHOST_OBJECT=4,
CO_SOFT_BODY=8,
CO_HF_FLUID=16,
CO_USER_TYPE=32
};
SIMD_FORCE_INLINE bool mergesSimulationIslands() const

2
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
View File

@@ -1127,7 +1127,7 @@ void btDiscreteDynamicsWorld::serializeRigidBodies(btSerializer* serializer)
for (i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
if (colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
if (colObj->getInternalType() & btCollisionObject::CO_RIGID_BODY)
{
int len = colObj->calculateSerializeBufferSize();
btChunk* chunk = serializer->allocate(len,1);

4
src/BulletDynamics/Dynamics/btRigidBody.h
View File

@@ -188,13 +188,13 @@ public:
///but a rigidbody is derived from btCollisionObject, so we can safely perform an upcast
static const btRigidBody* upcast(const btCollisionObject* colObj)
{
if (colObj->getInternalType()==btCollisionObject::CO_RIGID_BODY)
if (colObj->getInternalType()&btCollisionObject::CO_RIGID_BODY)
return (const btRigidBody*)colObj;
return 0;
}
static btRigidBody* upcast(btCollisionObject* colObj)
{
if (colObj->getInternalType()==btCollisionObject::CO_RIGID_BODY)
if (colObj->getInternalType()&btCollisionObject::CO_RIGID_BODY)
return (btRigidBody*)colObj;
return 0;
}

197
src/BulletSoftBody/btSoftBodyHelpers.cpp
View File

@@ -165,98 +165,7 @@ void btSoftBodyHelpers::Draw( btSoftBody* psb,
const btVector3 ccolor=btVector3(1,0,0);
int i,j,nj;
/* Nodes */
if(0!=(drawflags&fDrawFlags::Nodes))
{
for(i=0;i<psb->m_nodes.size();++i)
{
const btSoftBody::Node& n=psb->m_nodes[i];
if(0==(n.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
idraw->drawLine(n.m_x-btVector3(scl,0,0),n.m_x+btVector3(scl,0,0),btVector3(1,0,0));
idraw->drawLine(n.m_x-btVector3(0,scl,0),n.m_x+btVector3(0,scl,0),btVector3(0,1,0));
idraw->drawLine(n.m_x-btVector3(0,0,scl),n.m_x+btVector3(0,0,scl),btVector3(0,0,1));
}
}
/* Links */
if(0!=(drawflags&fDrawFlags::Links))
{
for(i=0;i<psb->m_links.size();++i)
{
const btSoftBody::Link& l=psb->m_links[i];
if(0==(l.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
idraw->drawLine(l.m_n[0]->m_x,l.m_n[1]->m_x,lcolor);
}
}
/* Normals */
if(0!=(drawflags&fDrawFlags::Normals))
{
for(i=0;i<psb->m_nodes.size();++i)
{
const btSoftBody::Node& n=psb->m_nodes[i];
if(0==(n.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
const btVector3 d=n.m_n*nscl;
idraw->drawLine(n.m_x,n.m_x+d,ncolor);
idraw->drawLine(n.m_x,n.m_x-d,ncolor*0.5);
}
}
/* Contacts */
if(0!=(drawflags&fDrawFlags::Contacts))
{
static const btVector3 axis[]={btVector3(1,0,0),
btVector3(0,1,0),
btVector3(0,0,1)};
for(i=0;i<psb->m_rcontacts.size();++i)
{
const btSoftBody::RContact& c=psb->m_rcontacts[i];
const btVector3 o= c.m_node->m_x-c.m_cti.m_normal*
(btDot(c.m_node->m_x,c.m_cti.m_normal)+c.m_cti.m_offset);
const btVector3 x=btCross(c.m_cti.m_normal,axis[c.m_cti.m_normal.minAxis()]).normalized();
const btVector3 y=btCross(x,c.m_cti.m_normal).normalized();
idraw->drawLine(o-x*nscl,o+x*nscl,ccolor);
idraw->drawLine(o-y*nscl,o+y*nscl,ccolor);
idraw->drawLine(o,o+c.m_cti.m_normal*nscl*3,btVector3(1,1,0));
}
}
/* Anchors */
if(0!=(drawflags&fDrawFlags::Anchors))
{
for(i=0;i<psb->m_anchors.size();++i)
{
const btSoftBody::Anchor& a=psb->m_anchors[i];
const btVector3 q=a.m_body->getWorldTransform()*a.m_local;
drawVertex(idraw,a.m_node->m_x,0.25,btVector3(1,0,0));
drawVertex(idraw,q,0.25,btVector3(0,1,0));
idraw->drawLine(a.m_node->m_x,q,btVector3(1,1,1));
}
for(i=0;i<psb->m_nodes.size();++i)
{
const btSoftBody::Node& n=psb->m_nodes[i];
if(0==(n.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
if(n.m_im<=0)
{
drawVertex(idraw,n.m_x,0.25,btVector3(1,0,0));
}
}
}
/* Faces */
if(0!=(drawflags&fDrawFlags::Faces))
{
const btScalar scl=(btScalar)0.8;
const btScalar alp=(btScalar)1;
const btVector3 col(0,(btScalar)0.7,0);
for(i=0;i<psb->m_faces.size();++i)
{
const btSoftBody::Face& f=psb->m_faces[i];
if(0==(f.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
const btVector3 x[]={f.m_n[0]->m_x,f.m_n[1]->m_x,f.m_n[2]->m_x};
const btVector3 c=(x[0]+x[1]+x[2])/3;
idraw->drawTriangle((x[0]-c)*scl+c,
(x[1]-c)*scl+c,
(x[2]-c)*scl+c,
col,alp);
}
}
/* Clusters */
/* Clusters */
if(0!=(drawflags&fDrawFlags::Clusters))
{
srand(1806);
@@ -304,13 +213,84 @@ void btSoftBodyHelpers::Draw( btSoftBody* psb,
}
#endif
/* Frame */
btSoftBody::Cluster& c=*psb->m_clusters[i];
idraw->drawLine(c.m_com,c.m_framexform*btVector3(10,0,0),btVector3(1,0,0));
idraw->drawLine(c.m_com,c.m_framexform*btVector3(0,10,0),btVector3(0,1,0));
idraw->drawLine(c.m_com,c.m_framexform*btVector3(0,0,10),btVector3(0,0,1));
// btSoftBody::Cluster& c=*psb->m_clusters[i];
// idraw->drawLine(c.m_com,c.m_framexform*btVector3(10,0,0),btVector3(1,0,0));
// idraw->drawLine(c.m_com,c.m_framexform*btVector3(0,10,0),btVector3(0,1,0));
// idraw->drawLine(c.m_com,c.m_framexform*btVector3(0,0,10),btVector3(0,0,1));
}
}
else
{
/* Nodes */
if(0!=(drawflags&fDrawFlags::Nodes))
{
for(i=0;i<psb->m_nodes.size();++i)
{
const btSoftBody::Node& n=psb->m_nodes[i];
if(0==(n.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
idraw->drawLine(n.m_x-btVector3(scl,0,0),n.m_x+btVector3(scl,0,0),btVector3(1,0,0));
idraw->drawLine(n.m_x-btVector3(0,scl,0),n.m_x+btVector3(0,scl,0),btVector3(0,1,0));
idraw->drawLine(n.m_x-btVector3(0,0,scl),n.m_x+btVector3(0,0,scl),btVector3(0,0,1));
}
}
/* Links */
if(0!=(drawflags&fDrawFlags::Links))
{
for(i=0;i<psb->m_links.size();++i)
{
const btSoftBody::Link& l=psb->m_links[i];
if(0==(l.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
idraw->drawLine(l.m_n[0]->m_x,l.m_n[1]->m_x,lcolor);
}
}
/* Normals */
if(0!=(drawflags&fDrawFlags::Normals))
{
for(i=0;i<psb->m_nodes.size();++i)
{
const btSoftBody::Node& n=psb->m_nodes[i];
if(0==(n.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
const btVector3 d=n.m_n*nscl;
idraw->drawLine(n.m_x,n.m_x+d,ncolor);
idraw->drawLine(n.m_x,n.m_x-d,ncolor*0.5);
}
}
/* Contacts */
if(0!=(drawflags&fDrawFlags::Contacts))
{
static const btVector3 axis[]={btVector3(1,0,0),
btVector3(0,1,0),
btVector3(0,0,1)};
for(i=0;i<psb->m_rcontacts.size();++i)
{
const btSoftBody::RContact& c=psb->m_rcontacts[i];
const btVector3 o= c.m_node->m_x-c.m_cti.m_normal*
(btDot(c.m_node->m_x,c.m_cti.m_normal)+c.m_cti.m_offset);
const btVector3 x=btCross(c.m_cti.m_normal,axis[c.m_cti.m_normal.minAxis()]).normalized();
const btVector3 y=btCross(x,c.m_cti.m_normal).normalized();
idraw->drawLine(o-x*nscl,o+x*nscl,ccolor);
idraw->drawLine(o-y*nscl,o+y*nscl,ccolor);
idraw->drawLine(o,o+c.m_cti.m_normal*nscl*3,btVector3(1,1,0));
}
}
/* Faces */
if(0!=(drawflags&fDrawFlags::Faces))
{
const btScalar scl=(btScalar)0.8;
const btScalar alp=(btScalar)1;
const btVector3 col(0,(btScalar)0.7,0);
for(i=0;i<psb->m_faces.size();++i)
{
const btSoftBody::Face& f=psb->m_faces[i];
if(0==(f.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
const btVector3 x[]={f.m_n[0]->m_x,f.m_n[1]->m_x,f.m_n[2]->m_x};
const btVector3 c=(x[0]+x[1]+x[2])/3;
idraw->drawTriangle((x[0]-c)*scl+c,
(x[1]-c)*scl+c,
(x[2]-c)*scl+c,
col,alp);
}
}
/* Tetras */
if(0!=(drawflags&fDrawFlags::Tetras))
{
@@ -329,6 +309,29 @@ void btSoftBodyHelpers::Draw( btSoftBody* psb,
idraw->drawTriangle((x[2]-c)*scl+c,(x[0]-c)*scl+c,(x[3]-c)*scl+c,col,alp);
}
}
}
/* Anchors */
if(0!=(drawflags&fDrawFlags::Anchors))
{
for(i=0;i<psb->m_anchors.size();++i)
{
const btSoftBody::Anchor& a=psb->m_anchors[i];
const btVector3 q=a.m_body->getWorldTransform()*a.m_local;
drawVertex(idraw,a.m_node->m_x,0.25,btVector3(1,0,0));
drawVertex(idraw,q,0.25,btVector3(0,1,0));
idraw->drawLine(a.m_node->m_x,q,btVector3(1,1,1));
}
for(i=0;i<psb->m_nodes.size();++i)
{
const btSoftBody::Node& n=psb->m_nodes[i];
if(0==(n.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
if(n.m_im<=0)
{
drawVertex(idraw,n.m_x,0.25,btVector3(1,0,0));
}
}
}
/* Notes */
if(0!=(drawflags&fDrawFlags::Notes))