minor tweaks to demos: enable constraint debug drawing in AllBulletDemos, default constraint debugging size set to 0.3,
set svn:eol-style native for folder files http://code.google.com/p/bullet/issues/detail?id=191
This commit is contained in:
erwin.coumans
File diff suppressed because it is too large
Load Diff
@@ -1,176 +1,176 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 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_DISCRETE_DYNAMICS_WORLD_H
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#define BT_DISCRETE_DYNAMICS_WORLD_H
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#include "btDynamicsWorld.h"
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class btDispatcher;
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class btOverlappingPairCache;
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class btConstraintSolver;
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class btSimulationIslandManager;
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class btTypedConstraint;
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|
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class btRaycastVehicle;
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class btCharacterControllerInterface;
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class btIDebugDraw;
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#include "LinearMath/btAlignedObjectArray.h"
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///btDiscreteDynamicsWorld provides discrete rigid body simulation
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///those classes replace the obsolete CcdPhysicsEnvironment/CcdPhysicsController
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class btDiscreteDynamicsWorld : public btDynamicsWorld
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{
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protected:
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btConstraintSolver* m_constraintSolver;
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||||
btSimulationIslandManager* m_islandManager;
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||||
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btAlignedObjectArray<btTypedConstraint*> m_constraints;
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btVector3 m_gravity;
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//for variable timesteps
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btScalar m_localTime;
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//for variable timesteps
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bool m_ownsIslandManager;
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bool m_ownsConstraintSolver;
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||||
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btAlignedObjectArray<btRaycastVehicle*> m_vehicles;
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||||
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btAlignedObjectArray<btCharacterControllerInterface*> m_characters;
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||||
|
||||
|
||||
int m_profileTimings;
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||||
|
||||
virtual void predictUnconstraintMotion(btScalar timeStep);
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|
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virtual void integrateTransforms(btScalar timeStep);
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|
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virtual void calculateSimulationIslands();
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|
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virtual void solveConstraints(btContactSolverInfo& solverInfo);
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|
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void updateActivationState(btScalar timeStep);
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|
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void updateVehicles(btScalar timeStep);
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|
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void updateCharacters(btScalar timeStep);
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|
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void startProfiling(btScalar timeStep);
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|
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virtual void internalSingleStepSimulation( btScalar timeStep);
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|
||||
|
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virtual void saveKinematicState(btScalar timeStep);
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void debugDrawSphere(btScalar radius, const btTransform& transform, const btVector3& color);
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public:
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|
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///this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those
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btDiscreteDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
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|
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virtual ~btDiscreteDynamicsWorld();
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|
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///if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's
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virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.));
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|
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|
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virtual void synchronizeMotionStates();
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|
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///this can be useful to synchronize a single rigid body -> graphics object
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void synchronizeSingleMotionState(btRigidBody* body);
|
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|
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virtual void addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false);
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|
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virtual void removeConstraint(btTypedConstraint* constraint);
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|
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virtual void addVehicle(btRaycastVehicle* vehicle);
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|
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virtual void removeVehicle(btRaycastVehicle* vehicle);
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|
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virtual void addCharacter(btCharacterControllerInterface* character);
|
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|
||||
virtual void removeCharacter(btCharacterControllerInterface* character);
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|
||||
|
||||
btSimulationIslandManager* getSimulationIslandManager()
|
||||
{
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||||
return m_islandManager;
|
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}
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||||
|
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const btSimulationIslandManager* getSimulationIslandManager() const
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{
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return m_islandManager;
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}
|
||||
|
||||
btCollisionWorld* getCollisionWorld()
|
||||
{
|
||||
return this;
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}
|
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|
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virtual void setGravity(const btVector3& gravity);
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||||
virtual btVector3 getGravity () const;
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|
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virtual void addRigidBody(btRigidBody* body);
|
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|
||||
virtual void addRigidBody(btRigidBody* body, short group, short mask);
|
||||
|
||||
virtual void removeRigidBody(btRigidBody* body);
|
||||
|
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void debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color);
|
||||
|
||||
void debugDrawConstraint(btTypedConstraint* constraint);
|
||||
|
||||
virtual void debugDrawWorld();
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|
||||
virtual void setConstraintSolver(btConstraintSolver* solver);
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||||
|
||||
virtual btConstraintSolver* getConstraintSolver();
|
||||
|
||||
virtual int getNumConstraints() const;
|
||||
|
||||
virtual btTypedConstraint* getConstraint(int index) ;
|
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|
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virtual const btTypedConstraint* getConstraint(int index) const;
|
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|
||||
|
||||
virtual btDynamicsWorldType getWorldType() const
|
||||
{
|
||||
return BT_DISCRETE_DYNAMICS_WORLD;
|
||||
}
|
||||
|
||||
///the forces on each rigidbody is accumulating together with gravity. clear this after each timestep.
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virtual void clearForces();
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||||
|
||||
///apply gravity, call this once per timestep
|
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virtual void applyGravity();
|
||||
|
||||
virtual void setNumTasks(int numTasks)
|
||||
{
|
||||
(void) numTasks;
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
#endif //BT_DISCRETE_DYNAMICS_WORLD_H
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 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_DISCRETE_DYNAMICS_WORLD_H
|
||||
#define BT_DISCRETE_DYNAMICS_WORLD_H
|
||||
|
||||
#include "btDynamicsWorld.h"
|
||||
|
||||
class btDispatcher;
|
||||
class btOverlappingPairCache;
|
||||
class btConstraintSolver;
|
||||
class btSimulationIslandManager;
|
||||
class btTypedConstraint;
|
||||
|
||||
|
||||
class btRaycastVehicle;
|
||||
class btCharacterControllerInterface;
|
||||
class btIDebugDraw;
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
|
||||
|
||||
///btDiscreteDynamicsWorld provides discrete rigid body simulation
|
||||
///those classes replace the obsolete CcdPhysicsEnvironment/CcdPhysicsController
|
||||
class btDiscreteDynamicsWorld : public btDynamicsWorld
|
||||
{
|
||||
protected:
|
||||
|
||||
btConstraintSolver* m_constraintSolver;
|
||||
|
||||
btSimulationIslandManager* m_islandManager;
|
||||
|
||||
btAlignedObjectArray<btTypedConstraint*> m_constraints;
|
||||
|
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btVector3 m_gravity;
|
||||
|
||||
//for variable timesteps
|
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btScalar m_localTime;
|
||||
//for variable timesteps
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|
||||
bool m_ownsIslandManager;
|
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bool m_ownsConstraintSolver;
|
||||
|
||||
|
||||
btAlignedObjectArray<btRaycastVehicle*> m_vehicles;
|
||||
|
||||
btAlignedObjectArray<btCharacterControllerInterface*> m_characters;
|
||||
|
||||
|
||||
int m_profileTimings;
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|
||||
virtual void predictUnconstraintMotion(btScalar timeStep);
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|
||||
virtual void integrateTransforms(btScalar timeStep);
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|
||||
virtual void calculateSimulationIslands();
|
||||
|
||||
virtual void solveConstraints(btContactSolverInfo& solverInfo);
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||||
|
||||
void updateActivationState(btScalar timeStep);
|
||||
|
||||
void updateVehicles(btScalar timeStep);
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|
||||
void updateCharacters(btScalar timeStep);
|
||||
|
||||
void startProfiling(btScalar timeStep);
|
||||
|
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virtual void internalSingleStepSimulation( btScalar timeStep);
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||||
|
||||
|
||||
virtual void saveKinematicState(btScalar timeStep);
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||||
|
||||
void debugDrawSphere(btScalar radius, const btTransform& transform, const btVector3& color);
|
||||
|
||||
|
||||
public:
|
||||
|
||||
|
||||
///this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those
|
||||
btDiscreteDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
|
||||
|
||||
virtual ~btDiscreteDynamicsWorld();
|
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|
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///if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's
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virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.));
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||||
|
||||
|
||||
virtual void synchronizeMotionStates();
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|
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///this can be useful to synchronize a single rigid body -> graphics object
|
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void synchronizeSingleMotionState(btRigidBody* body);
|
||||
|
||||
virtual void addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false);
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|
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virtual void removeConstraint(btTypedConstraint* constraint);
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|
||||
virtual void addVehicle(btRaycastVehicle* vehicle);
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|
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virtual void removeVehicle(btRaycastVehicle* vehicle);
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|
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virtual void addCharacter(btCharacterControllerInterface* character);
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|
||||
virtual void removeCharacter(btCharacterControllerInterface* character);
|
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|
||||
|
||||
btSimulationIslandManager* getSimulationIslandManager()
|
||||
{
|
||||
return m_islandManager;
|
||||
}
|
||||
|
||||
const btSimulationIslandManager* getSimulationIslandManager() const
|
||||
{
|
||||
return m_islandManager;
|
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}
|
||||
|
||||
btCollisionWorld* getCollisionWorld()
|
||||
{
|
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return this;
|
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}
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|
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virtual void setGravity(const btVector3& gravity);
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virtual btVector3 getGravity () const;
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|
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virtual void addRigidBody(btRigidBody* body);
|
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|
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virtual void addRigidBody(btRigidBody* body, short group, short mask);
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|
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virtual void removeRigidBody(btRigidBody* body);
|
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|
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void debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color);
|
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|
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void debugDrawConstraint(btTypedConstraint* constraint);
|
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|
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virtual void debugDrawWorld();
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|
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virtual void setConstraintSolver(btConstraintSolver* solver);
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|
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virtual btConstraintSolver* getConstraintSolver();
|
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|
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virtual int getNumConstraints() const;
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|
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virtual btTypedConstraint* getConstraint(int index) ;
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|
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virtual const btTypedConstraint* getConstraint(int index) const;
|
||||
|
||||
|
||||
virtual btDynamicsWorldType getWorldType() const
|
||||
{
|
||||
return BT_DISCRETE_DYNAMICS_WORLD;
|
||||
}
|
||||
|
||||
///the forces on each rigidbody is accumulating together with gravity. clear this after each timestep.
|
||||
virtual void clearForces();
|
||||
|
||||
///apply gravity, call this once per timestep
|
||||
virtual void applyGravity();
|
||||
|
||||
virtual void setNumTasks(int numTasks)
|
||||
{
|
||||
(void) numTasks;
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
#endif //BT_DISCRETE_DYNAMICS_WORLD_H
|
||||
|
||||
@@ -1,136 +1,136 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 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_DYNAMICS_WORLD_H
|
||||
#define BT_DYNAMICS_WORLD_H
|
||||
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
|
||||
#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
|
||||
|
||||
class btTypedConstraint;
|
||||
class btRaycastVehicle;
|
||||
class btConstraintSolver;
|
||||
class btDynamicsWorld;
|
||||
class btCharacterControllerInterface;
|
||||
|
||||
/// Type for the callback for each tick
|
||||
typedef void (*btInternalTickCallback)(btDynamicsWorld *world, btScalar timeStep);
|
||||
|
||||
enum btDynamicsWorldType
|
||||
{
|
||||
BT_SIMPLE_DYNAMICS_WORLD=1,
|
||||
BT_DISCRETE_DYNAMICS_WORLD=2,
|
||||
BT_CONTINUOUS_DYNAMICS_WORLD=3
|
||||
};
|
||||
|
||||
///The btDynamicsWorld is the interface class for several dynamics implementation, basic, discrete, parallel, and continuous etc.
|
||||
class btDynamicsWorld : public btCollisionWorld
|
||||
{
|
||||
|
||||
protected:
|
||||
btInternalTickCallback m_internalTickCallback;
|
||||
void* m_worldUserInfo;
|
||||
|
||||
btContactSolverInfo m_solverInfo;
|
||||
|
||||
public:
|
||||
|
||||
|
||||
btDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* broadphase,btCollisionConfiguration* collisionConfiguration)
|
||||
:btCollisionWorld(dispatcher,broadphase,collisionConfiguration), m_internalTickCallback(0), m_worldUserInfo(0)
|
||||
{
|
||||
}
|
||||
|
||||
virtual ~btDynamicsWorld()
|
||||
{
|
||||
}
|
||||
|
||||
///stepSimulation proceeds the simulation over 'timeStep', units in preferably in seconds.
|
||||
///By default, Bullet will subdivide the timestep in constant substeps of each 'fixedTimeStep'.
|
||||
///in order to keep the simulation real-time, the maximum number of substeps can be clamped to 'maxSubSteps'.
|
||||
///You can disable subdividing the timestep/substepping by passing maxSubSteps=0 as second argument to stepSimulation, but in that case you have to keep the timeStep constant.
|
||||
virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))=0;
|
||||
|
||||
virtual void debugDrawWorld() = 0;
|
||||
|
||||
virtual void addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false)
|
||||
{
|
||||
(void)constraint; (void)disableCollisionsBetweenLinkedBodies;
|
||||
}
|
||||
|
||||
virtual void removeConstraint(btTypedConstraint* constraint) {(void)constraint;}
|
||||
|
||||
virtual void addVehicle(btRaycastVehicle* vehicle) {(void)vehicle;}
|
||||
|
||||
virtual void removeVehicle(btRaycastVehicle* vehicle) {(void)vehicle;}
|
||||
|
||||
virtual void addCharacter(btCharacterControllerInterface* character) {(void)character;}
|
||||
|
||||
virtual void removeCharacter(btCharacterControllerInterface* character) {(void)character;}
|
||||
|
||||
|
||||
//once a rigidbody is added to the dynamics world, it will get this gravity assigned
|
||||
//existing rigidbodies in the world get gravity assigned too, during this method
|
||||
virtual void setGravity(const btVector3& gravity) = 0;
|
||||
virtual btVector3 getGravity () const = 0;
|
||||
|
||||
virtual void synchronizeMotionStates() = 0;
|
||||
|
||||
virtual void addRigidBody(btRigidBody* body) = 0;
|
||||
|
||||
virtual void removeRigidBody(btRigidBody* body) = 0;
|
||||
|
||||
virtual void setConstraintSolver(btConstraintSolver* solver) = 0;
|
||||
|
||||
virtual btConstraintSolver* getConstraintSolver() = 0;
|
||||
|
||||
virtual int getNumConstraints() const { return 0; }
|
||||
|
||||
virtual btTypedConstraint* getConstraint(int index) { (void)index; return 0; }
|
||||
|
||||
virtual const btTypedConstraint* getConstraint(int index) const { (void)index; return 0; }
|
||||
|
||||
virtual btDynamicsWorldType getWorldType() const=0;
|
||||
|
||||
virtual void clearForces() = 0;
|
||||
|
||||
/// Set the callback for when an internal tick (simulation substep) happens, optional user info
|
||||
void setInternalTickCallback(btInternalTickCallback cb, void* worldUserInfo=0)
|
||||
{
|
||||
m_internalTickCallback = cb;
|
||||
m_worldUserInfo = worldUserInfo;
|
||||
}
|
||||
|
||||
void setWorldUserInfo(void* worldUserInfo)
|
||||
{
|
||||
m_worldUserInfo = worldUserInfo;
|
||||
}
|
||||
|
||||
void* getWorldUserInfo() const
|
||||
{
|
||||
return m_worldUserInfo;
|
||||
}
|
||||
|
||||
btContactSolverInfo& getSolverInfo()
|
||||
{
|
||||
return m_solverInfo;
|
||||
}
|
||||
|
||||
|
||||
};
|
||||
|
||||
#endif //BT_DYNAMICS_WORLD_H
|
||||
|
||||
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 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_DYNAMICS_WORLD_H
|
||||
#define BT_DYNAMICS_WORLD_H
|
||||
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
|
||||
#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
|
||||
|
||||
class btTypedConstraint;
|
||||
class btRaycastVehicle;
|
||||
class btConstraintSolver;
|
||||
class btDynamicsWorld;
|
||||
class btCharacterControllerInterface;
|
||||
|
||||
/// Type for the callback for each tick
|
||||
typedef void (*btInternalTickCallback)(btDynamicsWorld *world, btScalar timeStep);
|
||||
|
||||
enum btDynamicsWorldType
|
||||
{
|
||||
BT_SIMPLE_DYNAMICS_WORLD=1,
|
||||
BT_DISCRETE_DYNAMICS_WORLD=2,
|
||||
BT_CONTINUOUS_DYNAMICS_WORLD=3
|
||||
};
|
||||
|
||||
///The btDynamicsWorld is the interface class for several dynamics implementation, basic, discrete, parallel, and continuous etc.
|
||||
class btDynamicsWorld : public btCollisionWorld
|
||||
{
|
||||
|
||||
protected:
|
||||
btInternalTickCallback m_internalTickCallback;
|
||||
void* m_worldUserInfo;
|
||||
|
||||
btContactSolverInfo m_solverInfo;
|
||||
|
||||
public:
|
||||
|
||||
|
||||
btDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* broadphase,btCollisionConfiguration* collisionConfiguration)
|
||||
:btCollisionWorld(dispatcher,broadphase,collisionConfiguration), m_internalTickCallback(0), m_worldUserInfo(0)
|
||||
{
|
||||
}
|
||||
|
||||
virtual ~btDynamicsWorld()
|
||||
{
|
||||
}
|
||||
|
||||
///stepSimulation proceeds the simulation over 'timeStep', units in preferably in seconds.
|
||||
///By default, Bullet will subdivide the timestep in constant substeps of each 'fixedTimeStep'.
|
||||
///in order to keep the simulation real-time, the maximum number of substeps can be clamped to 'maxSubSteps'.
|
||||
///You can disable subdividing the timestep/substepping by passing maxSubSteps=0 as second argument to stepSimulation, but in that case you have to keep the timeStep constant.
|
||||
virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))=0;
|
||||
|
||||
virtual void debugDrawWorld() = 0;
|
||||
|
||||
virtual void addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false)
|
||||
{
|
||||
(void)constraint; (void)disableCollisionsBetweenLinkedBodies;
|
||||
}
|
||||
|
||||
virtual void removeConstraint(btTypedConstraint* constraint) {(void)constraint;}
|
||||
|
||||
virtual void addVehicle(btRaycastVehicle* vehicle) {(void)vehicle;}
|
||||
|
||||
virtual void removeVehicle(btRaycastVehicle* vehicle) {(void)vehicle;}
|
||||
|
||||
virtual void addCharacter(btCharacterControllerInterface* character) {(void)character;}
|
||||
|
||||
virtual void removeCharacter(btCharacterControllerInterface* character) {(void)character;}
|
||||
|
||||
|
||||
//once a rigidbody is added to the dynamics world, it will get this gravity assigned
|
||||
//existing rigidbodies in the world get gravity assigned too, during this method
|
||||
virtual void setGravity(const btVector3& gravity) = 0;
|
||||
virtual btVector3 getGravity () const = 0;
|
||||
|
||||
virtual void synchronizeMotionStates() = 0;
|
||||
|
||||
virtual void addRigidBody(btRigidBody* body) = 0;
|
||||
|
||||
virtual void removeRigidBody(btRigidBody* body) = 0;
|
||||
|
||||
virtual void setConstraintSolver(btConstraintSolver* solver) = 0;
|
||||
|
||||
virtual btConstraintSolver* getConstraintSolver() = 0;
|
||||
|
||||
virtual int getNumConstraints() const { return 0; }
|
||||
|
||||
virtual btTypedConstraint* getConstraint(int index) { (void)index; return 0; }
|
||||
|
||||
virtual const btTypedConstraint* getConstraint(int index) const { (void)index; return 0; }
|
||||
|
||||
virtual btDynamicsWorldType getWorldType() const=0;
|
||||
|
||||
virtual void clearForces() = 0;
|
||||
|
||||
/// Set the callback for when an internal tick (simulation substep) happens, optional user info
|
||||
void setInternalTickCallback(btInternalTickCallback cb, void* worldUserInfo=0)
|
||||
{
|
||||
m_internalTickCallback = cb;
|
||||
m_worldUserInfo = worldUserInfo;
|
||||
}
|
||||
|
||||
void setWorldUserInfo(void* worldUserInfo)
|
||||
{
|
||||
m_worldUserInfo = worldUserInfo;
|
||||
}
|
||||
|
||||
void* getWorldUserInfo() const
|
||||
{
|
||||
return m_worldUserInfo;
|
||||
}
|
||||
|
||||
btContactSolverInfo& getSolverInfo()
|
||||
{
|
||||
return m_solverInfo;
|
||||
}
|
||||
|
||||
|
||||
};
|
||||
|
||||
#endif //BT_DYNAMICS_WORLD_H
|
||||
|
||||
|
||||
|
||||
@@ -1,243 +1,243 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 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 "btSimpleDynamicsWorld.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
|
||||
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
|
||||
#include "BulletDynamics/Dynamics/btRigidBody.h"
|
||||
#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
|
||||
#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
|
||||
|
||||
|
||||
/*
|
||||
Make sure this dummy function never changes so that it
|
||||
can be used by probes that are checking whether the
|
||||
library is actually installed.
|
||||
*/
|
||||
extern "C"
|
||||
{
|
||||
void btBulletDynamicsProbe ();
|
||||
void btBulletDynamicsProbe () {}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
btSimpleDynamicsWorld::btSimpleDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration)
|
||||
:btDynamicsWorld(dispatcher,pairCache,collisionConfiguration),
|
||||
m_constraintSolver(constraintSolver),
|
||||
m_ownsConstraintSolver(false),
|
||||
m_gravity(0,0,-10)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
|
||||
btSimpleDynamicsWorld::~btSimpleDynamicsWorld()
|
||||
{
|
||||
if (m_ownsConstraintSolver)
|
||||
btAlignedFree( m_constraintSolver);
|
||||
}
|
||||
|
||||
int btSimpleDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, btScalar fixedTimeStep)
|
||||
{
|
||||
(void)fixedTimeStep;
|
||||
(void)maxSubSteps;
|
||||
|
||||
|
||||
///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();
|
||||
|
||||
///solve contact constraints
|
||||
int numManifolds = m_dispatcher1->getNumManifolds();
|
||||
if (numManifolds)
|
||||
{
|
||||
btPersistentManifold** manifoldPtr = ((btCollisionDispatcher*)m_dispatcher1)->getInternalManifoldPointer();
|
||||
|
||||
btContactSolverInfo infoGlobal;
|
||||
infoGlobal.m_timeStep = timeStep;
|
||||
m_constraintSolver->prepareSolve(0,numManifolds);
|
||||
m_constraintSolver->solveGroup(0,0,manifoldPtr, numManifolds,0,0,infoGlobal,m_debugDrawer, m_stackAlloc,m_dispatcher1);
|
||||
m_constraintSolver->allSolved(infoGlobal,m_debugDrawer, m_stackAlloc);
|
||||
}
|
||||
|
||||
///integrate transforms
|
||||
integrateTransforms(timeStep);
|
||||
|
||||
updateAabbs();
|
||||
|
||||
synchronizeMotionStates();
|
||||
|
||||
clearForces();
|
||||
|
||||
return 1;
|
||||
|
||||
}
|
||||
|
||||
void btSimpleDynamicsWorld::clearForces()
|
||||
{
|
||||
///@todo: iterate over awake simulation islands!
|
||||
for ( int i=0;i<m_collisionObjects.size();i++)
|
||||
{
|
||||
btCollisionObject* colObj = m_collisionObjects[i];
|
||||
|
||||
btRigidBody* body = btRigidBody::upcast(colObj);
|
||||
if (body)
|
||||
{
|
||||
body->clearForces();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void btSimpleDynamicsWorld::setGravity(const btVector3& gravity)
|
||||
{
|
||||
m_gravity = gravity;
|
||||
for ( int i=0;i<m_collisionObjects.size();i++)
|
||||
{
|
||||
btCollisionObject* colObj = m_collisionObjects[i];
|
||||
btRigidBody* body = btRigidBody::upcast(colObj);
|
||||
if (body)
|
||||
{
|
||||
body->setGravity(gravity);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
btVector3 btSimpleDynamicsWorld::getGravity () const
|
||||
{
|
||||
return m_gravity;
|
||||
}
|
||||
|
||||
void btSimpleDynamicsWorld::removeRigidBody(btRigidBody* body)
|
||||
{
|
||||
removeCollisionObject(body);
|
||||
}
|
||||
|
||||
void btSimpleDynamicsWorld::addRigidBody(btRigidBody* body)
|
||||
{
|
||||
body->setGravity(m_gravity);
|
||||
|
||||
if (body->getCollisionShape())
|
||||
{
|
||||
addCollisionObject(body);
|
||||
}
|
||||
}
|
||||
|
||||
void btSimpleDynamicsWorld::updateAabbs()
|
||||
{
|
||||
btTransform predictedTrans;
|
||||
for ( int i=0;i<m_collisionObjects.size();i++)
|
||||
{
|
||||
btCollisionObject* colObj = m_collisionObjects[i];
|
||||
btRigidBody* body = btRigidBody::upcast(colObj);
|
||||
if (body)
|
||||
{
|
||||
if (body->isActive() && (!body->isStaticObject()))
|
||||
{
|
||||
btVector3 minAabb,maxAabb;
|
||||
colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
|
||||
btBroadphaseInterface* bp = getBroadphase();
|
||||
bp->setAabb(body->getBroadphaseHandle(),minAabb,maxAabb, m_dispatcher1);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void btSimpleDynamicsWorld::integrateTransforms(btScalar timeStep)
|
||||
{
|
||||
btTransform predictedTrans;
|
||||
for ( int i=0;i<m_collisionObjects.size();i++)
|
||||
{
|
||||
btCollisionObject* colObj = m_collisionObjects[i];
|
||||
btRigidBody* body = btRigidBody::upcast(colObj);
|
||||
if (body)
|
||||
{
|
||||
if (body->isActive() && (!body->isStaticObject()))
|
||||
{
|
||||
body->predictIntegratedTransform(timeStep, predictedTrans);
|
||||
body->proceedToTransform( predictedTrans);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
void btSimpleDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
|
||||
{
|
||||
for ( int i=0;i<m_collisionObjects.size();i++)
|
||||
{
|
||||
btCollisionObject* colObj = m_collisionObjects[i];
|
||||
btRigidBody* body = btRigidBody::upcast(colObj);
|
||||
if (body)
|
||||
{
|
||||
if (!body->isStaticObject())
|
||||
{
|
||||
if (body->isActive())
|
||||
{
|
||||
body->applyGravity();
|
||||
body->integrateVelocities( timeStep);
|
||||
body->applyDamping(timeStep);
|
||||
body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform());
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void btSimpleDynamicsWorld::synchronizeMotionStates()
|
||||
{
|
||||
///@todo: iterate over awake simulation islands!
|
||||
for ( int i=0;i<m_collisionObjects.size();i++)
|
||||
{
|
||||
btCollisionObject* colObj = m_collisionObjects[i];
|
||||
btRigidBody* body = btRigidBody::upcast(colObj);
|
||||
if (body && body->getMotionState())
|
||||
{
|
||||
if (body->getActivationState() != ISLAND_SLEEPING)
|
||||
{
|
||||
body->getMotionState()->setWorldTransform(body->getWorldTransform());
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
void btSimpleDynamicsWorld::setConstraintSolver(btConstraintSolver* solver)
|
||||
{
|
||||
if (m_ownsConstraintSolver)
|
||||
{
|
||||
btAlignedFree(m_constraintSolver);
|
||||
}
|
||||
m_ownsConstraintSolver = false;
|
||||
m_constraintSolver = solver;
|
||||
}
|
||||
|
||||
btConstraintSolver* btSimpleDynamicsWorld::getConstraintSolver()
|
||||
{
|
||||
return m_constraintSolver;
|
||||
}
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 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 "btSimpleDynamicsWorld.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
|
||||
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
|
||||
#include "BulletDynamics/Dynamics/btRigidBody.h"
|
||||
#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
|
||||
#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
|
||||
|
||||
|
||||
/*
|
||||
Make sure this dummy function never changes so that it
|
||||
can be used by probes that are checking whether the
|
||||
library is actually installed.
|
||||
*/
|
||||
extern "C"
|
||||
{
|
||||
void btBulletDynamicsProbe ();
|
||||
void btBulletDynamicsProbe () {}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
btSimpleDynamicsWorld::btSimpleDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration)
|
||||
:btDynamicsWorld(dispatcher,pairCache,collisionConfiguration),
|
||||
m_constraintSolver(constraintSolver),
|
||||
m_ownsConstraintSolver(false),
|
||||
m_gravity(0,0,-10)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
|
||||
btSimpleDynamicsWorld::~btSimpleDynamicsWorld()
|
||||
{
|
||||
if (m_ownsConstraintSolver)
|
||||
btAlignedFree( m_constraintSolver);
|
||||
}
|
||||
|
||||
int btSimpleDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, btScalar fixedTimeStep)
|
||||
{
|
||||
(void)fixedTimeStep;
|
||||
(void)maxSubSteps;
|
||||
|
||||
|
||||
///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();
|
||||
|
||||
///solve contact constraints
|
||||
int numManifolds = m_dispatcher1->getNumManifolds();
|
||||
if (numManifolds)
|
||||
{
|
||||
btPersistentManifold** manifoldPtr = ((btCollisionDispatcher*)m_dispatcher1)->getInternalManifoldPointer();
|
||||
|
||||
btContactSolverInfo infoGlobal;
|
||||
infoGlobal.m_timeStep = timeStep;
|
||||
m_constraintSolver->prepareSolve(0,numManifolds);
|
||||
m_constraintSolver->solveGroup(0,0,manifoldPtr, numManifolds,0,0,infoGlobal,m_debugDrawer, m_stackAlloc,m_dispatcher1);
|
||||
m_constraintSolver->allSolved(infoGlobal,m_debugDrawer, m_stackAlloc);
|
||||
}
|
||||
|
||||
///integrate transforms
|
||||
integrateTransforms(timeStep);
|
||||
|
||||
updateAabbs();
|
||||
|
||||
synchronizeMotionStates();
|
||||
|
||||
clearForces();
|
||||
|
||||
return 1;
|
||||
|
||||
}
|
||||
|
||||
void btSimpleDynamicsWorld::clearForces()
|
||||
{
|
||||
///@todo: iterate over awake simulation islands!
|
||||
for ( int i=0;i<m_collisionObjects.size();i++)
|
||||
{
|
||||
btCollisionObject* colObj = m_collisionObjects[i];
|
||||
|
||||
btRigidBody* body = btRigidBody::upcast(colObj);
|
||||
if (body)
|
||||
{
|
||||
body->clearForces();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void btSimpleDynamicsWorld::setGravity(const btVector3& gravity)
|
||||
{
|
||||
m_gravity = gravity;
|
||||
for ( int i=0;i<m_collisionObjects.size();i++)
|
||||
{
|
||||
btCollisionObject* colObj = m_collisionObjects[i];
|
||||
btRigidBody* body = btRigidBody::upcast(colObj);
|
||||
if (body)
|
||||
{
|
||||
body->setGravity(gravity);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
btVector3 btSimpleDynamicsWorld::getGravity () const
|
||||
{
|
||||
return m_gravity;
|
||||
}
|
||||
|
||||
void btSimpleDynamicsWorld::removeRigidBody(btRigidBody* body)
|
||||
{
|
||||
removeCollisionObject(body);
|
||||
}
|
||||
|
||||
void btSimpleDynamicsWorld::addRigidBody(btRigidBody* body)
|
||||
{
|
||||
body->setGravity(m_gravity);
|
||||
|
||||
if (body->getCollisionShape())
|
||||
{
|
||||
addCollisionObject(body);
|
||||
}
|
||||
}
|
||||
|
||||
void btSimpleDynamicsWorld::updateAabbs()
|
||||
{
|
||||
btTransform predictedTrans;
|
||||
for ( int i=0;i<m_collisionObjects.size();i++)
|
||||
{
|
||||
btCollisionObject* colObj = m_collisionObjects[i];
|
||||
btRigidBody* body = btRigidBody::upcast(colObj);
|
||||
if (body)
|
||||
{
|
||||
if (body->isActive() && (!body->isStaticObject()))
|
||||
{
|
||||
btVector3 minAabb,maxAabb;
|
||||
colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
|
||||
btBroadphaseInterface* bp = getBroadphase();
|
||||
bp->setAabb(body->getBroadphaseHandle(),minAabb,maxAabb, m_dispatcher1);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void btSimpleDynamicsWorld::integrateTransforms(btScalar timeStep)
|
||||
{
|
||||
btTransform predictedTrans;
|
||||
for ( int i=0;i<m_collisionObjects.size();i++)
|
||||
{
|
||||
btCollisionObject* colObj = m_collisionObjects[i];
|
||||
btRigidBody* body = btRigidBody::upcast(colObj);
|
||||
if (body)
|
||||
{
|
||||
if (body->isActive() && (!body->isStaticObject()))
|
||||
{
|
||||
body->predictIntegratedTransform(timeStep, predictedTrans);
|
||||
body->proceedToTransform( predictedTrans);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
void btSimpleDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
|
||||
{
|
||||
for ( int i=0;i<m_collisionObjects.size();i++)
|
||||
{
|
||||
btCollisionObject* colObj = m_collisionObjects[i];
|
||||
btRigidBody* body = btRigidBody::upcast(colObj);
|
||||
if (body)
|
||||
{
|
||||
if (!body->isStaticObject())
|
||||
{
|
||||
if (body->isActive())
|
||||
{
|
||||
body->applyGravity();
|
||||
body->integrateVelocities( timeStep);
|
||||
body->applyDamping(timeStep);
|
||||
body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform());
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void btSimpleDynamicsWorld::synchronizeMotionStates()
|
||||
{
|
||||
///@todo: iterate over awake simulation islands!
|
||||
for ( int i=0;i<m_collisionObjects.size();i++)
|
||||
{
|
||||
btCollisionObject* colObj = m_collisionObjects[i];
|
||||
btRigidBody* body = btRigidBody::upcast(colObj);
|
||||
if (body && body->getMotionState())
|
||||
{
|
||||
if (body->getActivationState() != ISLAND_SLEEPING)
|
||||
{
|
||||
body->getMotionState()->setWorldTransform(body->getWorldTransform());
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
void btSimpleDynamicsWorld::setConstraintSolver(btConstraintSolver* solver)
|
||||
{
|
||||
if (m_ownsConstraintSolver)
|
||||
{
|
||||
btAlignedFree(m_constraintSolver);
|
||||
}
|
||||
m_ownsConstraintSolver = false;
|
||||
m_constraintSolver = solver;
|
||||
}
|
||||
|
||||
btConstraintSolver* btSimpleDynamicsWorld::getConstraintSolver()
|
||||
{
|
||||
return m_constraintSolver;
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user