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

Moved the 'btRigidBody::clearForce' to the end of the stepSimulation, instead of in each substep.

Browse Source 
Should help with this issue, reported here: http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1601
We can optionally leave out the 'clearForces'.
Thanks everyone for the discussion.
This commit is contained in:
ejcoumans
2007-12-12 02:53:51 +00:00
parent 210a913110
commit 947dc8d33d
6 changed files with 198 additions and 157 deletions
Download Patch File Download Diff File Expand all files Collapse all files

19
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
View File

@@ -196,6 +196,21 @@ void btDiscreteDynamicsWorld::debugDrawWorld()
} }
} }
void btDiscreteDynamicsWorld::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 btDiscreteDynamicsWorld::synchronizeMotionStates() void btDiscreteDynamicsWorld::synchronizeMotionStates()
{ {
{ {
@@ -292,8 +307,10 @@ int btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps,
synchronizeMotionStates(); synchronizeMotionStates();
CProfileManager::Increment_Frame_Counter(); clearForces();
CProfileManager::Increment_Frame_Counter();
return numSimulationSubSteps; return numSimulationSubSteps;
} }

313
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
View File

@@ -1,155 +1,158 @@
/* /*
Bullet Continuous Collision Detection and Physics Library Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty. 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. 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, Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely, including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions: 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. 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. 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. 3. This notice may not be removed or altered from any source distribution.
*/ */
#ifndef BT_DISCRETE_DYNAMICS_WORLD_H #ifndef BT_DISCRETE_DYNAMICS_WORLD_H
#define BT_DISCRETE_DYNAMICS_WORLD_H #define BT_DISCRETE_DYNAMICS_WORLD_H
#include "btDynamicsWorld.h" #include "btDynamicsWorld.h"
class btDispatcher; class btDispatcher;
class btOverlappingPairCache; class btOverlappingPairCache;
class btConstraintSolver; class btConstraintSolver;
class btSimulationIslandManager; class btSimulationIslandManager;
class btTypedConstraint; class btTypedConstraint;
#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h" #include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
class btRaycastVehicle; class btRaycastVehicle;
class btIDebugDraw; class btIDebugDraw;
#include "LinearMath/btAlignedObjectArray.h" #include "LinearMath/btAlignedObjectArray.h"
///btDiscreteDynamicsWorld provides discrete rigid body simulation ///btDiscreteDynamicsWorld provides discrete rigid body simulation
///those classes replace the obsolete CcdPhysicsEnvironment/CcdPhysicsController ///those classes replace the obsolete CcdPhysicsEnvironment/CcdPhysicsController
class btDiscreteDynamicsWorld : public btDynamicsWorld class btDiscreteDynamicsWorld : public btDynamicsWorld
{ {
protected: protected:
btConstraintSolver* m_constraintSolver; btConstraintSolver* m_constraintSolver;
btSimulationIslandManager* m_islandManager; btSimulationIslandManager* m_islandManager;
btAlignedObjectArray<btTypedConstraint*> m_constraints; btAlignedObjectArray<btTypedConstraint*> m_constraints;
btVector3 m_gravity; btVector3 m_gravity;
//for variable timesteps //for variable timesteps
btScalar m_localTime; btScalar m_localTime;
//for variable timesteps //for variable timesteps
bool m_ownsIslandManager; bool m_ownsIslandManager;
bool m_ownsConstraintSolver; bool m_ownsConstraintSolver;
btContactSolverInfo m_solverInfo; btContactSolverInfo m_solverInfo;
btAlignedObjectArray<btRaycastVehicle*> m_vehicles; btAlignedObjectArray<btRaycastVehicle*> m_vehicles;
int m_profileTimings; int m_profileTimings;
void predictUnconstraintMotion(btScalar timeStep); void predictUnconstraintMotion(btScalar timeStep);
void integrateTransforms(btScalar timeStep); void integrateTransforms(btScalar timeStep);
void calculateSimulationIslands(); void calculateSimulationIslands();
void solveConstraints(btContactSolverInfo& solverInfo); void solveConstraints(btContactSolverInfo& solverInfo);
void updateActivationState(btScalar timeStep); void updateActivationState(btScalar timeStep);
void updateVehicles(btScalar timeStep); void updateVehicles(btScalar timeStep);
void startProfiling(btScalar timeStep); void startProfiling(btScalar timeStep);
virtual void internalSingleStepSimulation( btScalar timeStep); virtual void internalSingleStepSimulation( btScalar timeStep);
void synchronizeMotionStates(); void synchronizeMotionStates();
void saveKinematicState(btScalar timeStep); void saveKinematicState(btScalar timeStep);
void debugDrawSphere(btScalar radius, const btTransform& transform, const btVector3& color); void debugDrawSphere(btScalar radius, const btTransform& transform, const btVector3& color);
public: public:
///this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those ///this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those
btDiscreteDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration); btDiscreteDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
virtual ~btDiscreteDynamicsWorld(); virtual ~btDiscreteDynamicsWorld();
///if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's ///if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's
virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.)); virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.));
void addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false); void addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false);
void removeConstraint(btTypedConstraint* constraint); void removeConstraint(btTypedConstraint* constraint);
void addVehicle(btRaycastVehicle* vehicle); void addVehicle(btRaycastVehicle* vehicle);
void removeVehicle(btRaycastVehicle* vehicle); void removeVehicle(btRaycastVehicle* vehicle);
btSimulationIslandManager* getSimulationIslandManager() btSimulationIslandManager* getSimulationIslandManager()
{ {
return m_islandManager; return m_islandManager;
} }
const btSimulationIslandManager* getSimulationIslandManager() const const btSimulationIslandManager* getSimulationIslandManager() const
{ {
return m_islandManager; return m_islandManager;
} }
btCollisionWorld* getCollisionWorld() btCollisionWorld* getCollisionWorld()
{ {
return this; return this;
} }
virtual void setGravity(const btVector3& gravity); virtual void setGravity(const btVector3& gravity);
virtual void addRigidBody(btRigidBody* body); virtual void addRigidBody(btRigidBody* body);
virtual void addRigidBody(btRigidBody* body, short group, short mask); virtual void addRigidBody(btRigidBody* body, short group, short mask);
virtual void removeRigidBody(btRigidBody* body); virtual void removeRigidBody(btRigidBody* body);
void debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color); void debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color);
virtual void debugDrawWorld(); virtual void debugDrawWorld();
virtual void setConstraintSolver(btConstraintSolver* solver); virtual void setConstraintSolver(btConstraintSolver* solver);
virtual btConstraintSolver* getConstraintSolver(); virtual btConstraintSolver* getConstraintSolver();
virtual int getNumConstraints() const; virtual int getNumConstraints() const;
virtual btTypedConstraint* getConstraint(int index) ; virtual btTypedConstraint* getConstraint(int index) ;
virtual const btTypedConstraint* getConstraint(int index) const; virtual const btTypedConstraint* getConstraint(int index) const;
btContactSolverInfo& getSolverInfo() btContactSolverInfo& getSolverInfo()
{ {
return m_solverInfo; return m_solverInfo;
} }
virtual btDynamicsWorldType getWorldType() const virtual btDynamicsWorldType getWorldType() const
{ {
return BT_DISCRETE_DYNAMICS_WORLD; return BT_DISCRETE_DYNAMICS_WORLD;
} }
}; virtual void clearForces();
#endif //BT_DISCRETE_DYNAMICS_WORLD_H
};
#endif //BT_DISCRETE_DYNAMICS_WORLD_H

3
src/BulletDynamics/Dynamics/btDynamicsWorld.h
View File

@@ -78,6 +78,9 @@ class btDynamicsWorld : public btCollisionWorld
virtual btDynamicsWorldType getWorldType() const=0; virtual btDynamicsWorldType getWorldType() const=0;
virtual void clearForces() = 0;
}; };
#endif //BT_DYNAMICS_WORLD_H #endif //BT_DYNAMICS_WORLD_H

1
src/BulletDynamics/Dynamics/btRigidBody.cpp
View File

@@ -290,7 +290,6 @@ void btRigidBody::integrateVelocities(btScalar step)
m_angularVelocity *= (MAX_ANGVEL/step) /angvel; m_angularVelocity *= (MAX_ANGVEL/step) /angvel;
} }
clearForces();
} }
btQuaternion btRigidBody::getOrientation() const btQuaternion btRigidBody::getOrientation() const

17
src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
View File

@@ -85,10 +85,27 @@ int btSimpleDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, b
synchronizeMotionStates(); synchronizeMotionStates();
clearForces();
return 1; 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) void btSimpleDynamicsWorld::setGravity(const btVector3& gravity)
{ {

2
src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h
View File

@@ -69,6 +69,8 @@ public:
return BT_SIMPLE_DYNAMICS_WORLD; return BT_SIMPLE_DYNAMICS_WORLD;
} }
virtual void clearForces();
}; };
#endif //BT_SIMPLE_DYNAMICS_WORLD_H #endif //BT_SIMPLE_DYNAMICS_WORLD_H