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

Avoid using restitution for ccd motion clamping. Restitution for fast moving objects should be handled by btDiscreteDynamicsWorld::createPredictiveContacts

Browse Source 
(make sure to merge islands based on those predictive contacts too, added some check in the solver)
This fixes Issue 356.
Use same solver settings for AllBulletDemos
Make sure to embed the setCcdSweptSphereRadius inside the actual collision shape (for shoot box)
This commit is contained in:
erwin.coumans
2012-09-11 03:12:32 +00:00
parent 9612561113
commit 8c56528a79
5 changed files with 67 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files

27
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
View File

@@ -481,10 +481,11 @@ void btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
dispatchInfo.m_debugDraw = getDebugDrawer();
createPredictiveContacts(timeStep);
///perform collision detection
performDiscreteCollisionDetection();
createPredictiveContacts(timeStep);
calculateSimulationIslands();
@@ -733,6 +734,28 @@ void btDiscreteDynamicsWorld::calculateSimulationIslands()
getSimulationIslandManager()->updateActivationState(getCollisionWorld(),getCollisionWorld()->getDispatcher());
{
//merge islands based on speculative contact manifolds too
for (int i=0;i<this->m_predictiveManifolds.size();i++)
{
btPersistentManifold* manifold = m_predictiveManifolds[i];
const btCollisionObject* colObj0 = manifold->getBody0();
const btCollisionObject* colObj1 = manifold->getBody1();
if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) &&
((colObj1) && (!(colObj1)->isStaticOrKinematicObject())))
{
if (colObj0->isActive() || colObj1->isActive())
{
getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(),
(colObj1)->getIslandTag());
}
}
}
}
{
int i;
int numConstraints = int(m_constraints.size());
@@ -912,7 +935,7 @@ void btDiscreteDynamicsWorld::createPredictiveContacts(btScalar timeStep)
btClosestNotMeConvexResultCallback sweepResults(body,body->getWorldTransform().getOrigin(),predictedTrans.getOrigin(),getBroadphase()->getOverlappingPairCache(),getDispatcher());
#endif
//btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
btSphereShape tmpSphere(0.1);//body->getCcdSweptSphereRadius());//btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
btSphereShape tmpSphere(body->getCcdSweptSphereRadius());//btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
sweepResults.m_allowedPenetration=getDispatchInfo().m_allowedCcdPenetration;
sweepResults.m_collisionFilterGroup = body->getBroadphaseProxy()->m_collisionFilterGroup;