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add btActivationCollisionAlgoritm to fix deactivation problems, reported here:

Browse Source 
http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2616

provide access to active objects, requested here:
http://code.google.com/p/bullet/issues/detail?id=128
This commit is contained in:
erwin.coumans
2008-11-07 03:37:14 +00:00
parent f46d65d337
commit 86353f0ad8
25 changed files with 317 additions and 188 deletions
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51
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
View File

@@ -104,9 +104,9 @@ btDiscreteDynamicsWorld::~btDiscreteDynamicsWorld()
void btDiscreteDynamicsWorld::saveKinematicState(btScalar timeStep)
{
for (int i=0;i<m_collisionObjects.size();i++)
for (int i=0;i<m_activeObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
btCollisionObject* colObj = m_activeObjects[i];
btRigidBody* body = btRigidBody::upcast(colObj);
if (body)
{
@@ -151,10 +151,9 @@ void btDiscreteDynamicsWorld::debugDrawWorld()
{
int i;
//todo: iterate over awake simulation islands!
for ( i=0;i<m_collisionObjects.size();i++)
for ( i=0;i<m_activeObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
btCollisionObject* colObj = m_activeObjects[i];
if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe)
{
btVector3 color(btScalar(255.),btScalar(255.),btScalar(255.));
@@ -222,9 +221,9 @@ void btDiscreteDynamicsWorld::debugDrawWorld()
void btDiscreteDynamicsWorld::clearForces()
{
///@todo: iterate over awake simulation islands!
for ( int i=0;i<m_collisionObjects.size();i++)
for ( int i=0;i<m_activeObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
btCollisionObject* colObj = m_activeObjects[i];
btRigidBody* body = btRigidBody::upcast(colObj);
if (body)
@@ -238,9 +237,9 @@ void btDiscreteDynamicsWorld::clearForces()
void btDiscreteDynamicsWorld::applyGravity()
{
///@todo: iterate over awake simulation islands!
for ( int i=0;i<m_collisionObjects.size();i++)
for ( int i=0;i<m_activeObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
btCollisionObject* colObj = m_activeObjects[i];
btRigidBody* body = btRigidBody::upcast(colObj);
if (body && body->isActive())
@@ -257,9 +256,9 @@ void btDiscreteDynamicsWorld::synchronizeMotionStates()
BT_PROFILE("synchronizeMotionStates");
{
//todo: iterate over awake simulation islands!
for ( int i=0;i<m_collisionObjects.size();i++)
for ( int i=0;i<m_activeObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
btCollisionObject* colObj = m_activeObjects[i];
btRigidBody* body = btRigidBody::upcast(colObj);
if (body && body->getMotionState() && !body->isStaticOrKinematicObject())
@@ -365,6 +364,8 @@ void btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
BT_PROFILE("internalSingleStepSimulation");
findActiveObjects();
///apply gravity, predict motion
predictUnconstraintMotion(timeStep);
@@ -406,9 +407,9 @@ void btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
void btDiscreteDynamicsWorld::setGravity(const btVector3& gravity)
{
m_gravity = gravity;
for ( int i=0;i<m_collisionObjects.size();i++)
for ( int i=0;i<m_activeObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
btCollisionObject* colObj = m_activeObjects[i];
btRigidBody* body = btRigidBody::upcast(colObj);
if (body)
{
@@ -666,7 +667,7 @@ void btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds());
/// solve all the constraints for this island
m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(),getCollisionWorld()->getCollisionObjectArray(),&solverCallback);
m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(),getCollisionWorld(),&solverCallback);
m_constraintSolver->allSolved(solverInfo, m_debugDrawer, m_stackAlloc);
}
@@ -790,9 +791,9 @@ void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
{
BT_PROFILE("integrateTransforms");
btTransform predictedTrans;
for ( int i=0;i<m_collisionObjects.size();i++)
for ( int i=0;i<m_activeObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
btCollisionObject* colObj = m_activeObjects[i];
btRigidBody* body = btRigidBody::upcast(colObj);
if (body)
{
@@ -836,25 +837,25 @@ void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
void btDiscreteDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
{
BT_PROFILE("predictUnconstraintMotion");
for ( int i=0;i<m_collisionObjects.size();i++)
for ( int i=0;i<m_activeObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
btCollisionObject* colObj = m_activeObjects[i];
btRigidBody* body = btRigidBody::upcast(colObj);
if (body)
{
if (!body->isStaticOrKinematicObject())
{
if (body->isActive())
{
body->integrateVelocities( timeStep);
//damping
body->applyDamping(timeStep);
body->integrateVelocities( timeStep);
//damping
body->applyDamping(timeStep);
body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform());
}
body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform());
}
}
}

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

@@ -42,7 +42,6 @@ protected:
btAlignedObjectArray<btTypedConstraint*> m_constraints;
btVector3 m_gravity;
//for variable timesteps
@@ -79,6 +78,7 @@ protected:
void debugDrawSphere(btScalar radius, const btTransform& transform, const btVector3& color);
public:
@@ -90,6 +90,7 @@ public:
///if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's
virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.));
void addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false);
@@ -114,7 +115,6 @@ public:
return this;
}
virtual void setGravity(const btVector3& gravity);
virtual btVector3 getGravity () const;