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make sure aligned structures/classes use the btAlignedAlloc/btAlignedFree, by overriding the operator new/delete for that struct/class.

Browse Source 
integrated some contributions from IBM Germany for libspe2
This commit is contained in:
ejcoumans
2007-09-25 06:41:57 +00:00
parent 12e2a5c57c
commit a38de566c6
42 changed files with 1859 additions and 1814 deletions
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147
src/BulletDynamics/ConstraintSolver/btSolverBody.h
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@@ -1,72 +1,75 @@
/*
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_SOLVER_BODY_H
#define BT_SOLVER_BODY_H
class btRigidBody;
#include "LinearMath/btVector3.h"
#include "LinearMath/btMatrix3x3.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
///btSolverBody is an internal datastructure for the constraint solver. Only necessary data is packed to increase cache coherence/performance.
ATTRIBUTE_ALIGNED16 (struct) btSolverBody
{
btVector3 m_centerOfMassPosition;
btVector3 m_linearVelocity;
btVector3 m_angularVelocity;
btRigidBody* m_originalBody;
float m_invMass;
float m_friction;
float m_angularFactor;
inline void getVelocityInLocalPoint(const btVector3& rel_pos, btVector3& velocity ) const
{
velocity = m_linearVelocity + m_angularVelocity.cross(rel_pos);
}
//Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position
inline void internalApplyImpulse(const btVector3& linearComponent, const btVector3& angularComponent,btScalar impulseMagnitude)
{
m_linearVelocity += linearComponent*impulseMagnitude;
m_angularVelocity += angularComponent*impulseMagnitude*m_angularFactor;
}
void writebackVelocity()
{
if (m_invMass)
{
m_originalBody->setLinearVelocity(m_linearVelocity);
m_originalBody->setAngularVelocity(m_angularVelocity);
}
}
void readVelocity()
{
if (m_invMass)
{
m_linearVelocity = m_originalBody->getLinearVelocity();
m_angularVelocity = m_originalBody->getAngularVelocity();
}
}
};
#endif //BT_SOLVER_BODY_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_SOLVER_BODY_H
#define BT_SOLVER_BODY_H
class btRigidBody;
#include "LinearMath/btVector3.h"
#include "LinearMath/btMatrix3x3.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "LinearMath/btAlignedAllocator.h"
///btSolverBody is an internal datastructure for the constraint solver. Only necessary data is packed to increase cache coherence/performance.
ATTRIBUTE_ALIGNED16 (struct) btSolverBody
{
BT_DECLARE_ALIGNED_ALLOCATOR();
btVector3 m_centerOfMassPosition;
btVector3 m_linearVelocity;
btVector3 m_angularVelocity;
btRigidBody* m_originalBody;
float m_invMass;
float m_friction;
float m_angularFactor;
inline void getVelocityInLocalPoint(const btVector3& rel_pos, btVector3& velocity ) const
{
velocity = m_linearVelocity + m_angularVelocity.cross(rel_pos);
}
//Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position
inline void internalApplyImpulse(const btVector3& linearComponent, const btVector3& angularComponent,btScalar impulseMagnitude)
{
m_linearVelocity += linearComponent*impulseMagnitude;
m_angularVelocity += angularComponent*impulseMagnitude*m_angularFactor;
}
void writebackVelocity()
{
if (m_invMass)
{
m_originalBody->setLinearVelocity(m_linearVelocity);
m_originalBody->setAngularVelocity(m_angularVelocity);
}
}
void readVelocity()
{
if (m_invMass)
{
m_linearVelocity = m_originalBody->getLinearVelocity();
m_angularVelocity = m_originalBody->getAngularVelocity();
}
}
};
#endif //BT_SOLVER_BODY_H

128
src/BulletDynamics/ConstraintSolver/btSolverConstraint.h
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@@ -1,63 +1,65 @@
/*
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_SOLVER_CONSTRAINT_H
#define BT_SOLVER_CONSTRAINT_H
class btRigidBody;
#include "LinearMath/btVector3.h"
#include "LinearMath/btMatrix3x3.h"
//#define NO_FRICTION_TANGENTIALS 1
///1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints.
ATTRIBUTE_ALIGNED16 (struct) btSolverConstraint
{
btVector3 m_relpos1CrossNormal;
btVector3 m_relpos2CrossNormal;
btVector3 m_contactNormal;
btVector3 m_angularComponentA;
btVector3 m_angularComponentB;
btScalar m_appliedVelocityImpulse;
int m_solverBodyIdA;
int m_solverBodyIdB;
btScalar m_friction;
btScalar m_restitution;
btScalar m_jacDiagABInv;
btScalar m_penetration;
btScalar m_appliedImpulse;
int m_constraintType;
int m_frictionIndex;
int m_unusedPadding[2];
enum btSolverConstraintType
{
BT_SOLVER_CONTACT_1D = 0,
BT_SOLVER_FRICTION_1D
};
};
#endif //BT_SOLVER_CONSTRAINT_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_SOLVER_CONSTRAINT_H
#define BT_SOLVER_CONSTRAINT_H
class btRigidBody;
#include "LinearMath/btVector3.h"
#include "LinearMath/btMatrix3x3.h"
//#define NO_FRICTION_TANGENTIALS 1
///1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints.
ATTRIBUTE_ALIGNED16 (struct) btSolverConstraint
{
BT_DECLARE_ALIGNED_ALLOCATOR();
btVector3 m_relpos1CrossNormal;
btVector3 m_relpos2CrossNormal;
btVector3 m_contactNormal;
btVector3 m_angularComponentA;
btVector3 m_angularComponentB;
btScalar m_appliedVelocityImpulse;
int m_solverBodyIdA;
int m_solverBodyIdB;
btScalar m_friction;
btScalar m_restitution;
btScalar m_jacDiagABInv;
btScalar m_penetration;
btScalar m_appliedImpulse;
int m_constraintType;
int m_frictionIndex;
int m_unusedPadding[2];
enum btSolverConstraintType
{
BT_SOLVER_CONTACT_1D = 0,
BT_SOLVER_FRICTION_1D
};
};
#endif //BT_SOLVER_CONSTRAINT_H

160
src/BulletDynamics/Dynamics/btDynamicsWorld.h
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@@ -1,80 +1,80 @@
/*
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"
class btTypedConstraint;
class btRaycastVehicle;
class btConstraintSolver;
///btDynamicsWorld is the baseclass for several dynamics implementation, basic, discrete, parallel, and continuous
class btDynamicsWorld : public btCollisionWorld
{
public:
btDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* broadphase)
:btCollisionWorld(dispatcher,broadphase)
{
}
virtual ~btDynamicsWorld()
{
}
///stepSimulation proceeds the simulation over timeStep units
///if maxSubSteps > 0, it will interpolate time steps
virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))=0;
virtual void updateAabbs() = 0;
virtual void addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false) { (void)constraint;};
virtual void removeConstraint(btTypedConstraint* constraint) {(void)constraint;};
virtual void addVehicle(btRaycastVehicle* vehicle) {(void)vehicle;};
virtual void removeVehicle(btRaycastVehicle* vehicle) {(void)vehicle;};
virtual void setDebugDrawer(btIDebugDraw* debugDrawer) = 0;
virtual btIDebugDraw* getDebugDrawer() = 0;
//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 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; }
};
#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"
class btTypedConstraint;
class btRaycastVehicle;
class btConstraintSolver;
///btDynamicsWorld is the baseclass for several dynamics implementation, basic, discrete, parallel, and continuous
class btDynamicsWorld : public btCollisionWorld
{
public:
btDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* broadphase)
:btCollisionWorld(dispatcher,broadphase)
{
}
virtual ~btDynamicsWorld()
{
}
///stepSimulation proceeds the simulation over timeStep units
///if maxSubSteps > 0, it will interpolate time steps
virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))=0;
virtual void updateAabbs() = 0;
virtual void addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false) { (void)constraint;};
virtual void removeConstraint(btTypedConstraint* constraint) {(void)constraint;};
virtual void addVehicle(btRaycastVehicle* vehicle) {(void)vehicle;};
virtual void removeVehicle(btRaycastVehicle* vehicle) {(void)vehicle;};
virtual void setDebugDrawer(btIDebugDraw* debugDrawer) = 0;
virtual btIDebugDraw* getDebugDrawer() = 0;
//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 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; }
};
#endif //BT_DYNAMICS_WORLD_H

2
src/BulletDynamics/Dynamics/btRigidBody.cpp
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@@ -347,4 +347,4 @@ void btRigidBody::removeConstraintRef(btTypedConstraint* c)
{
m_constraintRefs.remove(c);
m_checkCollideWith = m_constraintRefs.size() > 0;
}
}

166
src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h
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@@ -1,84 +1,84 @@
/*
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_SIMPLE_DYNAMICS_WORLD_H
#define BT_SIMPLE_DYNAMICS_WORLD_H
#include "btDynamicsWorld.h"
class btDispatcher;
class btOverlappingPairCache;
class btConstraintSolver;
///btSimpleDynamicsWorld demonstrates very basic usage of Bullet rigid body dynamics
///It can be used for basic simulations, and as a starting point for porting Bullet
///btSimpleDynamicsWorld lacks object deactivation, island management and other concepts.
///For more complicated simulations, btDiscreteDynamicsWorld and btContinuousDynamicsWorld are recommended
///those classes replace the obsolete CcdPhysicsEnvironment/CcdPhysicsController
class btSimpleDynamicsWorld : public btDynamicsWorld
{
protected:
btConstraintSolver* m_constraintSolver;
bool m_ownsConstraintSolver;
btIDebugDraw* m_debugDrawer;
void predictUnconstraintMotion(btScalar timeStep);
void integrateTransforms(btScalar timeStep);
btVector3 m_gravity;
public:
///this btSimpleDynamicsWorld constructor creates dispatcher, broadphase pairCache and constraintSolver
btSimpleDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver);
virtual ~btSimpleDynamicsWorld();
///maxSubSteps/fixedTimeStep for interpolation is currently ignored for btSimpleDynamicsWorld, use btDiscreteDynamicsWorld instead
virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.));
virtual void setDebugDrawer(btIDebugDraw* debugDrawer)
{
m_debugDrawer = debugDrawer;
};
virtual btIDebugDraw* getDebugDrawer()
{
return m_debugDrawer;
}
virtual void setGravity(const btVector3& gravity);
virtual void addRigidBody(btRigidBody* body);
virtual void removeRigidBody(btRigidBody* body);
virtual void updateAabbs();
void synchronizeMotionStates();
virtual void setConstraintSolver(btConstraintSolver* solver);
/*
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_SIMPLE_DYNAMICS_WORLD_H
#define BT_SIMPLE_DYNAMICS_WORLD_H
#include "btDynamicsWorld.h"
class btDispatcher;
class btOverlappingPairCache;
class btConstraintSolver;
///btSimpleDynamicsWorld demonstrates very basic usage of Bullet rigid body dynamics
///It can be used for basic simulations, and as a starting point for porting Bullet
///btSimpleDynamicsWorld lacks object deactivation, island management and other concepts.
///For more complicated simulations, btDiscreteDynamicsWorld and btContinuousDynamicsWorld are recommended
///those classes replace the obsolete CcdPhysicsEnvironment/CcdPhysicsController
class btSimpleDynamicsWorld : public btDynamicsWorld
{
protected:
btConstraintSolver* m_constraintSolver;
bool m_ownsConstraintSolver;
btIDebugDraw* m_debugDrawer;
void predictUnconstraintMotion(btScalar timeStep);
void integrateTransforms(btScalar timeStep);
btVector3 m_gravity;
public:
///this btSimpleDynamicsWorld constructor creates dispatcher, broadphase pairCache and constraintSolver
btSimpleDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver);
virtual ~btSimpleDynamicsWorld();
///maxSubSteps/fixedTimeStep for interpolation is currently ignored for btSimpleDynamicsWorld, use btDiscreteDynamicsWorld instead
virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.));
virtual void setDebugDrawer(btIDebugDraw* debugDrawer)
{
m_debugDrawer = debugDrawer;
};
virtual btIDebugDraw* getDebugDrawer()
{
return m_debugDrawer;
}
virtual void setGravity(const btVector3& gravity);
virtual void addRigidBody(btRigidBody* body);
virtual void removeRigidBody(btRigidBody* body);
virtual void updateAabbs();
void synchronizeMotionStates();
virtual void setConstraintSolver(btConstraintSolver* solver);
virtual btConstraintSolver* getConstraintSolver();
};
#endif //BT_SIMPLE_DYNAMICS_WORLD_H
};
#endif //BT_SIMPLE_DYNAMICS_WORLD_H

22
src/BulletDynamics/Jamfile
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@@ -1,11 +1,11 @@
SubDir TOP src BulletDynamics ;
Description bulletdynamics : "Bullet Rigidbody Dynamics" ;
Library bulletdynamics :
[ Wildcard ConstraintSolver : *.h *.cpp ]
[ Wildcard Dynamics : *.h *.cpp ]
[ Wildcard Vehicle : *.h *.cpp ]
;
LibDepends bulletdynamics : bulletcollision ;
SubDir TOP src BulletDynamics ;
Description bulletdynamics : "Bullet Rigidbody Dynamics" ;
Library bulletdynamics :
[ Wildcard ConstraintSolver : *.h *.cpp ]
[ Wildcard Dynamics : *.h *.cpp ]
[ Wildcard Vehicle : *.h *.cpp ]
;
LibDepends bulletdynamics : bulletcollision ;

402
src/BulletDynamics/Vehicle/btRaycastVehicle.h
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@@ -1,201 +1,201 @@
/*
* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
*
* Permission to use, copy, modify, distribute and sell this software
* and its documentation for any purpose is hereby granted without fee,
* provided that the above copyright notice appear in all copies.
* Erwin Coumans makes no representations about the suitability
* of this software for any purpose.
* It is provided "as is" without express or implied warranty.
*/
#ifndef RAYCASTVEHICLE_H
#define RAYCASTVEHICLE_H
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
#include "btVehicleRaycaster.h"
class btDynamicsWorld;
#include "LinearMath/btAlignedObjectArray.h"
#include "btWheelInfo.h"
class btVehicleTuning;
///rayCast vehicle, very special constraint that turn a rigidbody into a vehicle.
class btRaycastVehicle : public btTypedConstraint
{
public:
class btVehicleTuning
{
public:
btVehicleTuning()
:m_suspensionStiffness(btScalar(5.88)),
m_suspensionCompression(btScalar(0.83)),
m_suspensionDamping(btScalar(0.88)),
m_maxSuspensionTravelCm(btScalar(500.)),
m_frictionSlip(btScalar(10.5))
{
}
btScalar m_suspensionStiffness;
btScalar m_suspensionCompression;
btScalar m_suspensionDamping;
btScalar m_maxSuspensionTravelCm;
btScalar m_frictionSlip;
};
private:
btScalar m_tau;
btScalar m_damping;
btVehicleRaycaster* m_vehicleRaycaster;
btScalar m_pitchControl;
btScalar m_steeringValue;
btScalar m_currentVehicleSpeedKmHour;
btRigidBody* m_chassisBody;
int m_indexRightAxis;
int m_indexUpAxis;
int m_indexForwardAxis;
void defaultInit(const btVehicleTuning& tuning);
public:
//constructor to create a car from an existing rigidbody
btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis, btVehicleRaycaster* raycaster );
virtual ~btRaycastVehicle() ;
const btTransform& getChassisWorldTransform() const;
btScalar rayCast(btWheelInfo& wheel);
virtual void updateVehicle(btScalar step);
void resetSuspension();
btScalar getSteeringValue(int wheel) const;
void setSteeringValue(btScalar steering,int wheel);
void applyEngineForce(btScalar force, int wheel);
const btTransform& getWheelTransformWS( int wheelIndex ) const;
void updateWheelTransform( int wheelIndex, bool interpolatedTransform = true );
void setRaycastWheelInfo( int wheelIndex , bool isInContact, const btVector3& hitPoint, const btVector3& hitNormal,btScalar depth);
btWheelInfo& addWheel( const btVector3& connectionPointCS0, const btVector3& wheelDirectionCS0,const btVector3& wheelAxleCS,btScalar suspensionRestLength,btScalar wheelRadius,const btVehicleTuning& tuning, bool isFrontWheel);
inline int getNumWheels() const {
return int (m_wheelInfo.size());
}
btAlignedObjectArray<btWheelInfo> m_wheelInfo;
const btWheelInfo& getWheelInfo(int index) const;
btWheelInfo& getWheelInfo(int index);
void updateWheelTransformsWS(btWheelInfo& wheel , bool interpolatedTransform = true);
void setBrake(btScalar brake,int wheelIndex);
void setPitchControl(btScalar pitch)
{
m_pitchControl = pitch;
}
void updateSuspension(btScalar deltaTime);
void updateFriction(btScalar timeStep);
inline btRigidBody* getRigidBody()
{
return m_chassisBody;
}
const btRigidBody* getRigidBody() const
{
return m_chassisBody;
}
inline int getRightAxis() const
{
return m_indexRightAxis;
}
inline int getUpAxis() const
{
return m_indexUpAxis;
}
inline int getForwardAxis() const
{
return m_indexForwardAxis;
}
///Worldspace forward vector
btVector3 getForwardVector() const
{
const btTransform& chassisTrans = getChassisWorldTransform();
btVector3 forwardW (
chassisTrans.getBasis()[0][m_indexForwardAxis],
chassisTrans.getBasis()[1][m_indexForwardAxis],
chassisTrans.getBasis()[2][m_indexForwardAxis]);
return forwardW;
}
///Velocity of vehicle (positive if velocity vector has same direction as foward vector)
btScalar getCurrentSpeedKmHour() const
{
return m_currentVehicleSpeedKmHour;
}
virtual void setCoordinateSystem(int rightIndex,int upIndex,int forwardIndex)
{
m_indexRightAxis = rightIndex;
m_indexUpAxis = upIndex;
m_indexForwardAxis = forwardIndex;
}
virtual void buildJacobian()
{
//not yet
}
virtual void solveConstraint(btScalar timeStep)
{
(void)timeStep;
//not yet
}
};
class btDefaultVehicleRaycaster : public btVehicleRaycaster
{
btDynamicsWorld* m_dynamicsWorld;
public:
btDefaultVehicleRaycaster(btDynamicsWorld* world)
:m_dynamicsWorld(world)
{
}
virtual void* castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result);
};
#endif //RAYCASTVEHICLE_H
/*
* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
*
* Permission to use, copy, modify, distribute and sell this software
* and its documentation for any purpose is hereby granted without fee,
* provided that the above copyright notice appear in all copies.
* Erwin Coumans makes no representations about the suitability
* of this software for any purpose.
* It is provided "as is" without express or implied warranty.
*/
#ifndef RAYCASTVEHICLE_H
#define RAYCASTVEHICLE_H
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
#include "btVehicleRaycaster.h"
class btDynamicsWorld;
#include "LinearMath/btAlignedObjectArray.h"
#include "btWheelInfo.h"
class btVehicleTuning;
///rayCast vehicle, very special constraint that turn a rigidbody into a vehicle.
class btRaycastVehicle : public btTypedConstraint
{
public:
class btVehicleTuning
{
public:
btVehicleTuning()
:m_suspensionStiffness(btScalar(5.88)),
m_suspensionCompression(btScalar(0.83)),
m_suspensionDamping(btScalar(0.88)),
m_maxSuspensionTravelCm(btScalar(500.)),
m_frictionSlip(btScalar(10.5))
{
}
btScalar m_suspensionStiffness;
btScalar m_suspensionCompression;
btScalar m_suspensionDamping;
btScalar m_maxSuspensionTravelCm;
btScalar m_frictionSlip;
};
private:
btScalar m_tau;
btScalar m_damping;
btVehicleRaycaster* m_vehicleRaycaster;
btScalar m_pitchControl;
btScalar m_steeringValue;
btScalar m_currentVehicleSpeedKmHour;
btRigidBody* m_chassisBody;
int m_indexRightAxis;
int m_indexUpAxis;
int m_indexForwardAxis;
void defaultInit(const btVehicleTuning& tuning);
public:
//constructor to create a car from an existing rigidbody
btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis, btVehicleRaycaster* raycaster );
virtual ~btRaycastVehicle() ;
const btTransform& getChassisWorldTransform() const;
btScalar rayCast(btWheelInfo& wheel);
virtual void updateVehicle(btScalar step);
void resetSuspension();
btScalar getSteeringValue(int wheel) const;
void setSteeringValue(btScalar steering,int wheel);
void applyEngineForce(btScalar force, int wheel);
const btTransform& getWheelTransformWS( int wheelIndex ) const;
void updateWheelTransform( int wheelIndex, bool interpolatedTransform = true );
void setRaycastWheelInfo( int wheelIndex , bool isInContact, const btVector3& hitPoint, const btVector3& hitNormal,btScalar depth);
btWheelInfo& addWheel( const btVector3& connectionPointCS0, const btVector3& wheelDirectionCS0,const btVector3& wheelAxleCS,btScalar suspensionRestLength,btScalar wheelRadius,const btVehicleTuning& tuning, bool isFrontWheel);
inline int getNumWheels() const {
return int (m_wheelInfo.size());
}
btAlignedObjectArray<btWheelInfo> m_wheelInfo;
const btWheelInfo& getWheelInfo(int index) const;
btWheelInfo& getWheelInfo(int index);
void updateWheelTransformsWS(btWheelInfo& wheel , bool interpolatedTransform = true);
void setBrake(btScalar brake,int wheelIndex);
void setPitchControl(btScalar pitch)
{
m_pitchControl = pitch;
}
void updateSuspension(btScalar deltaTime);
void updateFriction(btScalar timeStep);
inline btRigidBody* getRigidBody()
{
return m_chassisBody;
}
const btRigidBody* getRigidBody() const
{
return m_chassisBody;
}
inline int getRightAxis() const
{
return m_indexRightAxis;
}
inline int getUpAxis() const
{
return m_indexUpAxis;
}
inline int getForwardAxis() const
{
return m_indexForwardAxis;
}
///Worldspace forward vector
btVector3 getForwardVector() const
{
const btTransform& chassisTrans = getChassisWorldTransform();
btVector3 forwardW (
chassisTrans.getBasis()[0][m_indexForwardAxis],
chassisTrans.getBasis()[1][m_indexForwardAxis],
chassisTrans.getBasis()[2][m_indexForwardAxis]);
return forwardW;
}
///Velocity of vehicle (positive if velocity vector has same direction as foward vector)
btScalar getCurrentSpeedKmHour() const
{
return m_currentVehicleSpeedKmHour;
}
virtual void setCoordinateSystem(int rightIndex,int upIndex,int forwardIndex)
{
m_indexRightAxis = rightIndex;
m_indexUpAxis = upIndex;
m_indexForwardAxis = forwardIndex;
}
virtual void buildJacobian()
{
//not yet
}
virtual void solveConstraint(btScalar timeStep)
{
(void)timeStep;
//not yet
}
};
class btDefaultVehicleRaycaster : public btVehicleRaycaster
{
btDynamicsWorld* m_dynamicsWorld;
public:
btDefaultVehicleRaycaster(btDynamicsWorld* world)
:m_dynamicsWorld(world)
{
}
virtual void* castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result);
};
#endif //RAYCASTVEHICLE_H

70
src/BulletDynamics/Vehicle/btVehicleRaycaster.h
View File

@@ -1,35 +1,35 @@
/*
* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
*
* Permission to use, copy, modify, distribute and sell this software
* and its documentation for any purpose is hereby granted without fee,
* provided that the above copyright notice appear in all copies.
* Erwin Coumans makes no representations about the suitability
* of this software for any purpose.
* It is provided "as is" without express or implied warranty.
*/
#ifndef VEHICLE_RAYCASTER_H
#define VEHICLE_RAYCASTER_H
#include "LinearMath/btVector3.h"
/// btVehicleRaycaster is provides interface for between vehicle simulation and raycasting
struct btVehicleRaycaster
{
virtual ~btVehicleRaycaster()
{
}
struct btVehicleRaycasterResult
{
btVehicleRaycasterResult() :m_distFraction(btScalar(-1.)){};
btVector3 m_hitPointInWorld;
btVector3 m_hitNormalInWorld;
btScalar m_distFraction;
};
virtual void* castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result) = 0;
};
#endif //VEHICLE_RAYCASTER_H
/*
* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
*
* Permission to use, copy, modify, distribute and sell this software
* and its documentation for any purpose is hereby granted without fee,
* provided that the above copyright notice appear in all copies.
* Erwin Coumans makes no representations about the suitability
* of this software for any purpose.
* It is provided "as is" without express or implied warranty.
*/
#ifndef VEHICLE_RAYCASTER_H
#define VEHICLE_RAYCASTER_H
#include "LinearMath/btVector3.h"
/// btVehicleRaycaster is provides interface for between vehicle simulation and raycasting
struct btVehicleRaycaster
{
virtual ~btVehicleRaycaster()
{
}
struct btVehicleRaycasterResult
{
btVehicleRaycasterResult() :m_distFraction(btScalar(-1.)){};
btVector3 m_hitPointInWorld;
btVector3 m_hitNormalInWorld;
btScalar m_distFraction;
};
virtual void* castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result) = 0;
};
#endif //VEHICLE_RAYCASTER_H

232
src/BulletDynamics/Vehicle/btWheelInfo.h
View File

@@ -1,116 +1,116 @@
/*
* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
*
* Permission to use, copy, modify, distribute and sell this software
* and its documentation for any purpose is hereby granted without fee,
* provided that the above copyright notice appear in all copies.
* Erwin Coumans makes no representations about the suitability
* of this software for any purpose.
* It is provided "as is" without express or implied warranty.
*/
#ifndef WHEEL_INFO_H
#define WHEEL_INFO_H
#include "LinearMath/btVector3.h"
#include "LinearMath/btTransform.h"
class btRigidBody;
struct btWheelInfoConstructionInfo
{
btVector3 m_chassisConnectionCS;
btVector3 m_wheelDirectionCS;
btVector3 m_wheelAxleCS;
btScalar m_suspensionRestLength;
btScalar m_maxSuspensionTravelCm;
btScalar m_wheelRadius;
btScalar m_suspensionStiffness;
btScalar m_wheelsDampingCompression;
btScalar m_wheelsDampingRelaxation;
btScalar m_frictionSlip;
bool m_bIsFrontWheel;
};
/// btWheelInfo contains information per wheel about friction and suspension.
struct btWheelInfo
{
struct RaycastInfo
{
//set by raycaster
btVector3 m_contactNormalWS;//contactnormal
btVector3 m_contactPointWS;//raycast hitpoint
btScalar m_suspensionLength;
btVector3 m_hardPointWS;//raycast starting point
btVector3 m_wheelDirectionWS; //direction in worldspace
btVector3 m_wheelAxleWS; // axle in worldspace
bool m_isInContact;
void* m_groundObject; //could be general void* ptr
};
RaycastInfo m_raycastInfo;
btTransform m_worldTransform;
btVector3 m_chassisConnectionPointCS; //const
btVector3 m_wheelDirectionCS;//const
btVector3 m_wheelAxleCS; // const or modified by steering
btScalar m_suspensionRestLength1;//const
btScalar m_maxSuspensionTravelCm;
btScalar getSuspensionRestLength() const;
btScalar m_wheelsRadius;//const
btScalar m_suspensionStiffness;//const
btScalar m_wheelsDampingCompression;//const
btScalar m_wheelsDampingRelaxation;//const
btScalar m_frictionSlip;
btScalar m_steering;
btScalar m_rotation;
btScalar m_deltaRotation;
btScalar m_rollInfluence;
btScalar m_engineForce;
btScalar m_brake;
bool m_bIsFrontWheel;
void* m_clientInfo;//can be used to store pointer to sync transforms...
btWheelInfo(btWheelInfoConstructionInfo& ci)
{
m_suspensionRestLength1 = ci.m_suspensionRestLength;
m_maxSuspensionTravelCm = ci.m_maxSuspensionTravelCm;
m_wheelsRadius = ci.m_wheelRadius;
m_suspensionStiffness = ci.m_suspensionStiffness;
m_wheelsDampingCompression = ci.m_wheelsDampingCompression;
m_wheelsDampingRelaxation = ci.m_wheelsDampingRelaxation;
m_chassisConnectionPointCS = ci.m_chassisConnectionCS;
m_wheelDirectionCS = ci.m_wheelDirectionCS;
m_wheelAxleCS = ci.m_wheelAxleCS;
m_frictionSlip = ci.m_frictionSlip;
m_steering = btScalar(0.);
m_engineForce = btScalar(0.);
m_rotation = btScalar(0.);
m_deltaRotation = btScalar(0.);
m_brake = btScalar(0.);
m_rollInfluence = btScalar(0.1);
m_bIsFrontWheel = ci.m_bIsFrontWheel;
}
void updateWheel(const btRigidBody& chassis,RaycastInfo& raycastInfo);
btScalar m_clippedInvContactDotSuspension;
btScalar m_suspensionRelativeVelocity;
//calculated by suspension
btScalar m_wheelsSuspensionForce;
btScalar m_skidInfo;
};
#endif //WHEEL_INFO_H
/*
* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
*
* Permission to use, copy, modify, distribute and sell this software
* and its documentation for any purpose is hereby granted without fee,
* provided that the above copyright notice appear in all copies.
* Erwin Coumans makes no representations about the suitability
* of this software for any purpose.
* It is provided "as is" without express or implied warranty.
*/
#ifndef WHEEL_INFO_H
#define WHEEL_INFO_H
#include "LinearMath/btVector3.h"
#include "LinearMath/btTransform.h"
class btRigidBody;
struct btWheelInfoConstructionInfo
{
btVector3 m_chassisConnectionCS;
btVector3 m_wheelDirectionCS;
btVector3 m_wheelAxleCS;
btScalar m_suspensionRestLength;
btScalar m_maxSuspensionTravelCm;
btScalar m_wheelRadius;
btScalar m_suspensionStiffness;
btScalar m_wheelsDampingCompression;
btScalar m_wheelsDampingRelaxation;
btScalar m_frictionSlip;
bool m_bIsFrontWheel;
};
/// btWheelInfo contains information per wheel about friction and suspension.
struct btWheelInfo
{
struct RaycastInfo
{
//set by raycaster
btVector3 m_contactNormalWS;//contactnormal
btVector3 m_contactPointWS;//raycast hitpoint
btScalar m_suspensionLength;
btVector3 m_hardPointWS;//raycast starting point
btVector3 m_wheelDirectionWS; //direction in worldspace
btVector3 m_wheelAxleWS; // axle in worldspace
bool m_isInContact;
void* m_groundObject; //could be general void* ptr
};
RaycastInfo m_raycastInfo;
btTransform m_worldTransform;
btVector3 m_chassisConnectionPointCS; //const
btVector3 m_wheelDirectionCS;//const
btVector3 m_wheelAxleCS; // const or modified by steering
btScalar m_suspensionRestLength1;//const
btScalar m_maxSuspensionTravelCm;
btScalar getSuspensionRestLength() const;
btScalar m_wheelsRadius;//const
btScalar m_suspensionStiffness;//const
btScalar m_wheelsDampingCompression;//const
btScalar m_wheelsDampingRelaxation;//const
btScalar m_frictionSlip;
btScalar m_steering;
btScalar m_rotation;
btScalar m_deltaRotation;
btScalar m_rollInfluence;
btScalar m_engineForce;
btScalar m_brake;
bool m_bIsFrontWheel;
void* m_clientInfo;//can be used to store pointer to sync transforms...
btWheelInfo(btWheelInfoConstructionInfo& ci)
{
m_suspensionRestLength1 = ci.m_suspensionRestLength;
m_maxSuspensionTravelCm = ci.m_maxSuspensionTravelCm;
m_wheelsRadius = ci.m_wheelRadius;
m_suspensionStiffness = ci.m_suspensionStiffness;
m_wheelsDampingCompression = ci.m_wheelsDampingCompression;
m_wheelsDampingRelaxation = ci.m_wheelsDampingRelaxation;
m_chassisConnectionPointCS = ci.m_chassisConnectionCS;
m_wheelDirectionCS = ci.m_wheelDirectionCS;
m_wheelAxleCS = ci.m_wheelAxleCS;
m_frictionSlip = ci.m_frictionSlip;
m_steering = btScalar(0.);
m_engineForce = btScalar(0.);
m_rotation = btScalar(0.);
m_deltaRotation = btScalar(0.);
m_brake = btScalar(0.);
m_rollInfluence = btScalar(0.1);
m_bIsFrontWheel = ci.m_bIsFrontWheel;
}
void updateWheel(const btRigidBody& chassis,RaycastInfo& raycastInfo);
btScalar m_clippedInvContactDotSuspension;
btScalar m_suspensionRelativeVelocity;
//calculated by suspension
btScalar m_wheelsSuspensionForce;
btScalar m_skidInfo;
};
#endif //WHEEL_INFO_H

88
src/BulletDynamics/ibmsdk/Makefile
View File

@@ -1,44 +1,44 @@
#### Source code Dirs
VPATH = \
../ConstraintSolver \
../Dynamics \
../Vehicle
ROOT = ../../..
#### Library
LIBRARY_ppu = bulletdynamics.a
#### Compiler flags
CPPFLAGS = \
-I../ConstraintSolver \
-I../Dynamics \
-I../Vehicle \
-I$(ROOT)/src \
-I$(SDKINC)
#### Optimization level flags
#CC_OPT_LEVEL = $(CC_OPT_LEVEL_DEBUG)
CC_OPT_LEVEL = -O3
##### Objects to be archived in lib
OBJS = \
btContactConstraint.o \
btGeneric6DofConstraint.o \
btHingeConstraint.o \
btPoint2PointConstraint.o \
btSequentialImpulseConstraintSolver.o \
btSolve2LinearConstraint.o \
btTypedConstraint.o \
btDiscreteDynamicsWorld.o \
btRigidBody.o \
btSimpleDynamicsWorld.o \
btRaycastVehicle.o \
btWheelInfo.o
#### Install directories
INSTALL_DIR = $(ROOT)/lib/ibmsdk
INSTALL_FILES = $(LIBRARY_ppu)
CELL_TOP ?= /opt/ibm/cell-sdk/prototype
include $(CELL_TOP)/make.footer
#### Source code Dirs
VPATH = \
../ConstraintSolver \
../Dynamics \
../Vehicle
ROOT = ../../..
#### Library
LIBRARY_ppu = bulletdynamics.a
#### Compiler flags
CPPFLAGS = \
-I../ConstraintSolver \
-I../Dynamics \
-I../Vehicle \
-I$(ROOT)/src \
-I$(SDKINC)
#### Optimization level flags
#CC_OPT_LEVEL = $(CC_OPT_LEVEL_DEBUG)
CC_OPT_LEVEL = -O3
##### Objects to be archived in lib
OBJS = \
btContactConstraint.o \
btGeneric6DofConstraint.o \
btHingeConstraint.o \
btPoint2PointConstraint.o \
btSequentialImpulseConstraintSolver.o \
btSolve2LinearConstraint.o \
btTypedConstraint.o \
btDiscreteDynamicsWorld.o \
btRigidBody.o \
btSimpleDynamicsWorld.o \
btRaycastVehicle.o \
btWheelInfo.o
#### Install directories
INSTALL_DIR = $(ROOT)/lib/ibmsdk
INSTALL_FILES = $(LIBRARY_ppu)
CELL_TOP ?= /opt/ibm/cell-sdk/prototype
include $(CELL_TOP)/make.footer