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

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

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

@@ -1,155 +1,158 @@
/*
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;
#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
class btRaycastVehicle;
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;
btVector3 m_gravity;
//for variable timesteps
btScalar m_localTime;
//for variable timesteps
bool m_ownsIslandManager;
bool m_ownsConstraintSolver;
btContactSolverInfo m_solverInfo;
btAlignedObjectArray<btRaycastVehicle*> m_vehicles;
int m_profileTimings;
void predictUnconstraintMotion(btScalar timeStep);
void integrateTransforms(btScalar timeStep);
void calculateSimulationIslands();
void solveConstraints(btContactSolverInfo& solverInfo);
void updateActivationState(btScalar timeStep);
void updateVehicles(btScalar timeStep);
void startProfiling(btScalar timeStep);
virtual void internalSingleStepSimulation( btScalar timeStep);
void synchronizeMotionStates();
void saveKinematicState(btScalar timeStep);
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();
///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);
void removeConstraint(btTypedConstraint* constraint);
void addVehicle(btRaycastVehicle* vehicle);
void removeVehicle(btRaycastVehicle* vehicle);
btSimulationIslandManager* getSimulationIslandManager()
{
return m_islandManager;
}
const btSimulationIslandManager* getSimulationIslandManager() const
{
return m_islandManager;
}
btCollisionWorld* getCollisionWorld()
{
return this;
}
virtual void setGravity(const btVector3& gravity);
virtual void addRigidBody(btRigidBody* body);
virtual void addRigidBody(btRigidBody* body, short group, short mask);
virtual void removeRigidBody(btRigidBody* body);
void debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color);
virtual void debugDrawWorld();
virtual void setConstraintSolver(btConstraintSolver* solver);
virtual btConstraintSolver* getConstraintSolver();
virtual int getNumConstraints() const;
virtual btTypedConstraint* getConstraint(int index) ;
virtual const btTypedConstraint* getConstraint(int index) const;
btContactSolverInfo& getSolverInfo()
{
return m_solverInfo;
}
virtual btDynamicsWorldType getWorldType() const
{
return BT_DISCRETE_DYNAMICS_WORLD;
}
};
#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;
#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
class btRaycastVehicle;
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;
btVector3 m_gravity;
//for variable timesteps
btScalar m_localTime;
//for variable timesteps
bool m_ownsIslandManager;
bool m_ownsConstraintSolver;
btContactSolverInfo m_solverInfo;
btAlignedObjectArray<btRaycastVehicle*> m_vehicles;
int m_profileTimings;
void predictUnconstraintMotion(btScalar timeStep);
void integrateTransforms(btScalar timeStep);
void calculateSimulationIslands();
void solveConstraints(btContactSolverInfo& solverInfo);
void updateActivationState(btScalar timeStep);
void updateVehicles(btScalar timeStep);
void startProfiling(btScalar timeStep);
virtual void internalSingleStepSimulation( btScalar timeStep);
void synchronizeMotionStates();
void saveKinematicState(btScalar timeStep);
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();
///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);
void removeConstraint(btTypedConstraint* constraint);
void addVehicle(btRaycastVehicle* vehicle);
void removeVehicle(btRaycastVehicle* vehicle);
btSimulationIslandManager* getSimulationIslandManager()
{
return m_islandManager;
}
const btSimulationIslandManager* getSimulationIslandManager() const
{
return m_islandManager;
}
btCollisionWorld* getCollisionWorld()
{
return this;
}
virtual void setGravity(const btVector3& gravity);
virtual void addRigidBody(btRigidBody* body);
virtual void addRigidBody(btRigidBody* body, short group, short mask);
virtual void removeRigidBody(btRigidBody* body);
void debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color);
virtual void debugDrawWorld();
virtual void setConstraintSolver(btConstraintSolver* solver);
virtual btConstraintSolver* getConstraintSolver();
virtual int getNumConstraints() const;
virtual btTypedConstraint* getConstraint(int index) ;
virtual const btTypedConstraint* getConstraint(int index) const;
btContactSolverInfo& getSolverInfo()
{
return m_solverInfo;
}
virtual btDynamicsWorldType getWorldType() const
{
return BT_DISCRETE_DYNAMICS_WORLD;
}
virtual void clearForces();
};
#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 void clearForces() = 0;
};
#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;
}
clearForces();
}
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();
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)
{

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

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