Code-style consistency improvement:
Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
This commit is contained in:
erwincoumans
@@ -26,21 +26,16 @@ class btCollisionWorld;
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class btActionInterface
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{
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protected:
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static btRigidBody& getFixedBody();
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public:
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public:
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virtual ~btActionInterface()
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{
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}
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virtual void updateAction( btCollisionWorld* collisionWorld, btScalar deltaTimeStep)=0;
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virtual void updateAction(btCollisionWorld* collisionWorld, btScalar deltaTimeStep) = 0;
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virtual void debugDraw(btIDebugDraw* debugDrawer) = 0;
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};
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#endif //_BT_ACTION_INTERFACE_H
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#endif //_BT_ACTION_INTERFACE_H
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File diff suppressed because it is too large
Load Diff
@@ -13,7 +13,6 @@ subject to the following restrictions:
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_DISCRETE_DYNAMICS_WORLD_H
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#define BT_DISCRETE_DYNAMICS_WORLD_H
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@@ -32,159 +31,153 @@ struct InplaceSolverIslandCallback;
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#include "LinearMath/btAlignedObjectArray.h"
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#include "LinearMath/btThreads.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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ATTRIBUTE_ALIGNED16(class) btDiscreteDynamicsWorld : public btDynamicsWorld
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ATTRIBUTE_ALIGNED16(class)
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btDiscreteDynamicsWorld : public btDynamicsWorld
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{
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protected:
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btAlignedObjectArray<btTypedConstraint*> m_sortedConstraints;
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InplaceSolverIslandCallback* m_solverIslandCallback;
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btAlignedObjectArray<btTypedConstraint*> m_sortedConstraints;
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InplaceSolverIslandCallback* m_solverIslandCallback;
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btConstraintSolver* m_constraintSolver;
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btConstraintSolver* m_constraintSolver;
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btSimulationIslandManager* m_islandManager;
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btSimulationIslandManager* m_islandManager;
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btAlignedObjectArray<btTypedConstraint*> m_constraints;
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btAlignedObjectArray<btRigidBody*> m_nonStaticRigidBodies;
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btVector3 m_gravity;
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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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btScalar m_fixedTimeStep;
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btScalar m_localTime;
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btScalar m_fixedTimeStep;
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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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bool m_synchronizeAllMotionStates;
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bool m_applySpeculativeContactRestitution;
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bool m_ownsIslandManager;
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bool m_ownsConstraintSolver;
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bool m_synchronizeAllMotionStates;
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bool m_applySpeculativeContactRestitution;
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btAlignedObjectArray<btActionInterface*> m_actions;
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int m_profileTimings;
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btAlignedObjectArray<btActionInterface*> m_actions;
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bool m_latencyMotionStateInterpolation;
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int m_profileTimings;
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btAlignedObjectArray<btPersistentManifold*> m_predictiveManifolds;
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btSpinMutex m_predictiveManifoldsMutex; // used to synchronize threads creating predictive contacts
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bool m_latencyMotionStateInterpolation;
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virtual void predictUnconstraintMotion(btScalar timeStep);
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void integrateTransformsInternal( btRigidBody** bodies, int numBodies, btScalar timeStep ); // can be called in parallel
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virtual void integrateTransforms(btScalar timeStep);
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virtual void calculateSimulationIslands();
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btAlignedObjectArray<btPersistentManifold*> m_predictiveManifolds;
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btSpinMutex m_predictiveManifoldsMutex; // used to synchronize threads creating predictive contacts
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virtual void solveConstraints(btContactSolverInfo& solverInfo);
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virtual void updateActivationState(btScalar timeStep);
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virtual void predictUnconstraintMotion(btScalar timeStep);
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void updateActions(btScalar timeStep);
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void integrateTransformsInternal(btRigidBody * *bodies, int numBodies, btScalar timeStep); // can be called in parallel
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virtual void integrateTransforms(btScalar timeStep);
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void startProfiling(btScalar timeStep);
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virtual void calculateSimulationIslands();
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virtual void internalSingleStepSimulation( btScalar timeStep);
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virtual void solveConstraints(btContactSolverInfo & solverInfo);
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void releasePredictiveContacts();
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void createPredictiveContactsInternal( btRigidBody** bodies, int numBodies, btScalar timeStep ); // can be called in parallel
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virtual void createPredictiveContacts(btScalar timeStep);
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virtual void updateActivationState(btScalar timeStep);
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virtual void saveKinematicState(btScalar timeStep);
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void updateActions(btScalar timeStep);
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void serializeRigidBodies(btSerializer* serializer);
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void startProfiling(btScalar timeStep);
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void serializeDynamicsWorldInfo(btSerializer* serializer);
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virtual void internalSingleStepSimulation(btScalar timeStep);
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void releasePredictiveContacts();
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void createPredictiveContactsInternal(btRigidBody * *bodies, int numBodies, btScalar timeStep); // can be called in parallel
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virtual void createPredictiveContacts(btScalar timeStep);
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virtual void saveKinematicState(btScalar timeStep);
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void serializeRigidBodies(btSerializer * serializer);
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void serializeDynamicsWorldInfo(btSerializer * serializer);
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public:
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BT_DECLARE_ALIGNED_ALLOCATOR();
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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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btDiscreteDynamicsWorld(btDispatcher * dispatcher, btBroadphaseInterface * pairCache, btConstraintSolver * constraintSolver, btCollisionConfiguration * collisionConfiguration);
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virtual ~btDiscreteDynamicsWorld();
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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 int stepSimulation(btScalar timeStep, int maxSubSteps = 1, btScalar fixedTimeStep = btScalar(1.) / btScalar(60.));
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virtual void synchronizeMotionStates();
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virtual void synchronizeMotionStates();
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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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void synchronizeSingleMotionState(btRigidBody * body);
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virtual void addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false);
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virtual void addConstraint(btTypedConstraint * constraint, bool disableCollisionsBetweenLinkedBodies = false);
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virtual void removeConstraint(btTypedConstraint* constraint);
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virtual void removeConstraint(btTypedConstraint * constraint);
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virtual void addAction(btActionInterface*);
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virtual void addAction(btActionInterface*);
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virtual void removeAction(btActionInterface*);
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btSimulationIslandManager* getSimulationIslandManager()
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virtual void removeAction(btActionInterface*);
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btSimulationIslandManager* getSimulationIslandManager()
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{
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return m_islandManager;
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}
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const btSimulationIslandManager* getSimulationIslandManager() const
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const btSimulationIslandManager* getSimulationIslandManager() const
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{
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return m_islandManager;
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}
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btCollisionWorld* getCollisionWorld()
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btCollisionWorld* getCollisionWorld()
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{
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return this;
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}
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virtual void setGravity(const btVector3& gravity);
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virtual void setGravity(const btVector3& gravity);
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virtual btVector3 getGravity () const;
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virtual btVector3 getGravity() const;
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virtual void addCollisionObject(btCollisionObject* collisionObject, int collisionFilterGroup=btBroadphaseProxy::StaticFilter, int collisionFilterMask=btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
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virtual void addCollisionObject(btCollisionObject * collisionObject, int collisionFilterGroup = btBroadphaseProxy::StaticFilter, int collisionFilterMask = btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
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virtual void addRigidBody(btRigidBody* body);
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virtual void addRigidBody(btRigidBody * body);
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virtual void addRigidBody(btRigidBody* body, int group, int mask);
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virtual void addRigidBody(btRigidBody * body, int group, int mask);
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virtual void removeRigidBody(btRigidBody* body);
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virtual void removeRigidBody(btRigidBody * body);
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///removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btCollisionWorld::removeCollisionObject
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virtual void removeCollisionObject(btCollisionObject* collisionObject);
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virtual void removeCollisionObject(btCollisionObject * collisionObject);
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virtual void debugDrawConstraint(btTypedConstraint * constraint);
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virtual void debugDrawConstraint(btTypedConstraint* constraint);
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virtual void debugDrawWorld();
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virtual void debugDrawWorld();
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virtual void setConstraintSolver(btConstraintSolver* solver);
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virtual void setConstraintSolver(btConstraintSolver * solver);
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virtual btConstraintSolver* getConstraintSolver();
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virtual int getNumConstraints() const;
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virtual btTypedConstraint* getConstraint(int index) ;
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virtual int getNumConstraints() const;
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virtual btTypedConstraint* getConstraint(int index);
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virtual const btTypedConstraint* getConstraint(int index) const;
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virtual btDynamicsWorldType getWorldType() const
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virtual btDynamicsWorldType getWorldType() const
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{
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return BT_DISCRETE_DYNAMICS_WORLD;
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}
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///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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virtual void clearForces();
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///apply gravity, call this once per timestep
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virtual void applyGravity();
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virtual void applyGravity();
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virtual void setNumTasks(int numTasks)
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virtual void setNumTasks(int numTasks)
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{
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(void) numTasks;
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(void)numTasks;
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}
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///obsolete, use updateActions instead
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@@ -194,15 +187,15 @@ public:
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}
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///obsolete, use addAction instead
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virtual void addVehicle(btActionInterface* vehicle);
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virtual void addVehicle(btActionInterface * vehicle);
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///obsolete, use removeAction instead
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virtual void removeVehicle(btActionInterface* vehicle);
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virtual void removeVehicle(btActionInterface * vehicle);
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///obsolete, use addAction instead
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virtual void addCharacter(btActionInterface* character);
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virtual void addCharacter(btActionInterface * character);
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///obsolete, use removeAction instead
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virtual void removeCharacter(btActionInterface* character);
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virtual void removeCharacter(btActionInterface * character);
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void setSynchronizeAllMotionStates(bool synchronizeAll)
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void setSynchronizeAllMotionStates(bool synchronizeAll)
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{
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m_synchronizeAllMotionStates = synchronizeAll;
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}
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@@ -215,18 +208,18 @@ public:
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{
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m_applySpeculativeContactRestitution = enable;
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}
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bool getApplySpeculativeContactRestitution() const
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{
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return m_applySpeculativeContactRestitution;
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}
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///Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (see Bullet/Demos/SerializeDemo)
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virtual void serialize(btSerializer* serializer);
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virtual void serialize(btSerializer * serializer);
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///Interpolate motion state between previous and current transform, instead of current and next transform.
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///This can relieve discontinuities in the rendering, due to penetrations
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void setLatencyMotionStateInterpolation(bool latencyInterpolation )
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void setLatencyMotionStateInterpolation(bool latencyInterpolation)
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{
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m_latencyMotionStateInterpolation = latencyInterpolation;
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}
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@@ -236,4 +229,4 @@ public:
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}
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};
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#endif //BT_DISCRETE_DYNAMICS_WORLD_H
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#endif //BT_DISCRETE_DYNAMICS_WORLD_H
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@@ -13,7 +13,6 @@ subject to the following restrictions:
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "btDiscreteDynamicsWorldMt.h"
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//collision detection
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@@ -38,148 +37,139 @@ subject to the following restrictions:
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#include "BulletDynamics/ConstraintSolver/btSliderConstraint.h"
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#include "BulletDynamics/ConstraintSolver/btContactConstraint.h"
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#include "LinearMath/btIDebugDraw.h"
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#include "BulletCollision/CollisionShapes/btSphereShape.h"
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#include "BulletDynamics/Dynamics/btActionInterface.h"
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#include "LinearMath/btQuickprof.h"
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#include "LinearMath/btMotionState.h"
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#include "LinearMath/btSerializer.h"
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///
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/// btConstraintSolverPoolMt
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///
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btConstraintSolverPoolMt::ThreadSolver* btConstraintSolverPoolMt::getAndLockThreadSolver()
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{
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int i = 0;
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int i = 0;
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#if BT_THREADSAFE
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i = btGetCurrentThreadIndex() % m_solvers.size();
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#endif // #if BT_THREADSAFE
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while ( true )
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{
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ThreadSolver& solver = m_solvers[ i ];
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if ( solver.mutex.tryLock() )
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{
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return &solver;
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}
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// failed, try the next one
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i = ( i + 1 ) % m_solvers.size();
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}
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return NULL;
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i = btGetCurrentThreadIndex() % m_solvers.size();
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#endif // #if BT_THREADSAFE
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while (true)
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{
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ThreadSolver& solver = m_solvers[i];
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if (solver.mutex.tryLock())
|
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{
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return &solver;
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}
|
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// failed, try the next one
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i = (i + 1) % m_solvers.size();
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}
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return NULL;
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}
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|
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void btConstraintSolverPoolMt::init( btConstraintSolver** solvers, int numSolvers )
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void btConstraintSolverPoolMt::init(btConstraintSolver** solvers, int numSolvers)
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{
|
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m_solverType = BT_SEQUENTIAL_IMPULSE_SOLVER;
|
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m_solvers.resize( numSolvers );
|
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for ( int i = 0; i < numSolvers; ++i )
|
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{
|
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m_solvers[ i ].solver = solvers[ i ];
|
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}
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if ( numSolvers > 0 )
|
||||
{
|
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m_solverType = solvers[ 0 ]->getSolverType();
|
||||
}
|
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m_solverType = BT_SEQUENTIAL_IMPULSE_SOLVER;
|
||||
m_solvers.resize(numSolvers);
|
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for (int i = 0; i < numSolvers; ++i)
|
||||
{
|
||||
m_solvers[i].solver = solvers[i];
|
||||
}
|
||||
if (numSolvers > 0)
|
||||
{
|
||||
m_solverType = solvers[0]->getSolverType();
|
||||
}
|
||||
}
|
||||
|
||||
// create the solvers for me
|
||||
btConstraintSolverPoolMt::btConstraintSolverPoolMt( int numSolvers )
|
||||
btConstraintSolverPoolMt::btConstraintSolverPoolMt(int numSolvers)
|
||||
{
|
||||
btAlignedObjectArray<btConstraintSolver*> solvers;
|
||||
solvers.reserve( numSolvers );
|
||||
for ( int i = 0; i < numSolvers; ++i )
|
||||
{
|
||||
btConstraintSolver* solver = new btSequentialImpulseConstraintSolver();
|
||||
solvers.push_back( solver );
|
||||
}
|
||||
init( &solvers[ 0 ], numSolvers );
|
||||
btAlignedObjectArray<btConstraintSolver*> solvers;
|
||||
solvers.reserve(numSolvers);
|
||||
for (int i = 0; i < numSolvers; ++i)
|
||||
{
|
||||
btConstraintSolver* solver = new btSequentialImpulseConstraintSolver();
|
||||
solvers.push_back(solver);
|
||||
}
|
||||
init(&solvers[0], numSolvers);
|
||||
}
|
||||
|
||||
// pass in fully constructed solvers (destructor will delete them)
|
||||
btConstraintSolverPoolMt::btConstraintSolverPoolMt( btConstraintSolver** solvers, int numSolvers )
|
||||
btConstraintSolverPoolMt::btConstraintSolverPoolMt(btConstraintSolver** solvers, int numSolvers)
|
||||
{
|
||||
init( solvers, numSolvers );
|
||||
init(solvers, numSolvers);
|
||||
}
|
||||
|
||||
btConstraintSolverPoolMt::~btConstraintSolverPoolMt()
|
||||
{
|
||||
// delete all solvers
|
||||
for ( int i = 0; i < m_solvers.size(); ++i )
|
||||
{
|
||||
ThreadSolver& solver = m_solvers[ i ];
|
||||
delete solver.solver;
|
||||
solver.solver = NULL;
|
||||
}
|
||||
// delete all solvers
|
||||
for (int i = 0; i < m_solvers.size(); ++i)
|
||||
{
|
||||
ThreadSolver& solver = m_solvers[i];
|
||||
delete solver.solver;
|
||||
solver.solver = NULL;
|
||||
}
|
||||
}
|
||||
|
||||
///solve a group of constraints
|
||||
btScalar btConstraintSolverPoolMt::solveGroup( btCollisionObject** bodies,
|
||||
int numBodies,
|
||||
btPersistentManifold** manifolds,
|
||||
int numManifolds,
|
||||
btTypedConstraint** constraints,
|
||||
int numConstraints,
|
||||
const btContactSolverInfo& info,
|
||||
btIDebugDraw* debugDrawer,
|
||||
btDispatcher* dispatcher
|
||||
)
|
||||
btScalar btConstraintSolverPoolMt::solveGroup(btCollisionObject** bodies,
|
||||
int numBodies,
|
||||
btPersistentManifold** manifolds,
|
||||
int numManifolds,
|
||||
btTypedConstraint** constraints,
|
||||
int numConstraints,
|
||||
const btContactSolverInfo& info,
|
||||
btIDebugDraw* debugDrawer,
|
||||
btDispatcher* dispatcher)
|
||||
{
|
||||
ThreadSolver* ts = getAndLockThreadSolver();
|
||||
ts->solver->solveGroup( bodies, numBodies, manifolds, numManifolds, constraints, numConstraints, info, debugDrawer, dispatcher );
|
||||
ts->mutex.unlock();
|
||||
return 0.0f;
|
||||
ThreadSolver* ts = getAndLockThreadSolver();
|
||||
ts->solver->solveGroup(bodies, numBodies, manifolds, numManifolds, constraints, numConstraints, info, debugDrawer, dispatcher);
|
||||
ts->mutex.unlock();
|
||||
return 0.0f;
|
||||
}
|
||||
|
||||
void btConstraintSolverPoolMt::reset()
|
||||
{
|
||||
for ( int i = 0; i < m_solvers.size(); ++i )
|
||||
{
|
||||
ThreadSolver& solver = m_solvers[ i ];
|
||||
solver.mutex.lock();
|
||||
solver.solver->reset();
|
||||
solver.mutex.unlock();
|
||||
}
|
||||
for (int i = 0; i < m_solvers.size(); ++i)
|
||||
{
|
||||
ThreadSolver& solver = m_solvers[i];
|
||||
solver.mutex.lock();
|
||||
solver.solver->reset();
|
||||
solver.mutex.unlock();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
///
|
||||
/// btDiscreteDynamicsWorldMt
|
||||
///
|
||||
|
||||
btDiscreteDynamicsWorldMt::btDiscreteDynamicsWorldMt(btDispatcher* dispatcher,
|
||||
btBroadphaseInterface* pairCache,
|
||||
btConstraintSolverPoolMt* constraintSolver,
|
||||
btConstraintSolver* constraintSolverMt,
|
||||
btCollisionConfiguration* collisionConfiguration
|
||||
)
|
||||
: btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration)
|
||||
btBroadphaseInterface* pairCache,
|
||||
btConstraintSolverPoolMt* constraintSolver,
|
||||
btConstraintSolver* constraintSolverMt,
|
||||
btCollisionConfiguration* collisionConfiguration)
|
||||
: btDiscreteDynamicsWorld(dispatcher, pairCache, constraintSolver, collisionConfiguration)
|
||||
{
|
||||
if (m_ownsIslandManager)
|
||||
{
|
||||
m_islandManager->~btSimulationIslandManager();
|
||||
btAlignedFree( m_islandManager);
|
||||
btAlignedFree(m_islandManager);
|
||||
}
|
||||
{
|
||||
void* mem = btAlignedAlloc(sizeof(btSimulationIslandManagerMt),16);
|
||||
void* mem = btAlignedAlloc(sizeof(btSimulationIslandManagerMt), 16);
|
||||
btSimulationIslandManagerMt* im = new (mem) btSimulationIslandManagerMt();
|
||||
im->setMinimumSolverBatchSize( m_solverInfo.m_minimumSolverBatchSize );
|
||||
m_islandManager = im;
|
||||
im->setMinimumSolverBatchSize(m_solverInfo.m_minimumSolverBatchSize);
|
||||
m_islandManager = im;
|
||||
}
|
||||
m_constraintSolverMt = constraintSolverMt;
|
||||
m_constraintSolverMt = constraintSolverMt;
|
||||
}
|
||||
|
||||
|
||||
btDiscreteDynamicsWorldMt::~btDiscreteDynamicsWorldMt()
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
void btDiscreteDynamicsWorldMt::solveConstraints(btContactSolverInfo& solverInfo)
|
||||
{
|
||||
BT_PROFILE("solveConstraints");
|
||||
@@ -187,92 +177,87 @@ void btDiscreteDynamicsWorldMt::solveConstraints(btContactSolverInfo& solverInfo
|
||||
m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds());
|
||||
|
||||
/// solve all the constraints for this island
|
||||
btSimulationIslandManagerMt* im = static_cast<btSimulationIslandManagerMt*>(m_islandManager);
|
||||
btSimulationIslandManagerMt::SolverParams solverParams;
|
||||
solverParams.m_solverPool = m_constraintSolver;
|
||||
solverParams.m_solverMt = m_constraintSolverMt;
|
||||
solverParams.m_solverInfo = &solverInfo;
|
||||
solverParams.m_debugDrawer = m_debugDrawer;
|
||||
solverParams.m_dispatcher = getCollisionWorld()->getDispatcher();
|
||||
im->buildAndProcessIslands( getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_constraints, solverParams );
|
||||
btSimulationIslandManagerMt* im = static_cast<btSimulationIslandManagerMt*>(m_islandManager);
|
||||
btSimulationIslandManagerMt::SolverParams solverParams;
|
||||
solverParams.m_solverPool = m_constraintSolver;
|
||||
solverParams.m_solverMt = m_constraintSolverMt;
|
||||
solverParams.m_solverInfo = &solverInfo;
|
||||
solverParams.m_debugDrawer = m_debugDrawer;
|
||||
solverParams.m_dispatcher = getCollisionWorld()->getDispatcher();
|
||||
im->buildAndProcessIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_constraints, solverParams);
|
||||
|
||||
m_constraintSolver->allSolved(solverInfo, m_debugDrawer);
|
||||
}
|
||||
|
||||
|
||||
struct UpdaterUnconstrainedMotion : public btIParallelForBody
|
||||
{
|
||||
btScalar timeStep;
|
||||
btRigidBody** rigidBodies;
|
||||
btScalar timeStep;
|
||||
btRigidBody** rigidBodies;
|
||||
|
||||
void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE
|
||||
{
|
||||
for ( int i = iBegin; i < iEnd; ++i )
|
||||
{
|
||||
btRigidBody* body = rigidBodies[ i ];
|
||||
if ( !body->isStaticOrKinematicObject() )
|
||||
{
|
||||
//don't integrate/update velocities here, it happens in the constraint solver
|
||||
body->applyDamping( timeStep );
|
||||
body->predictIntegratedTransform( timeStep, body->getInterpolationWorldTransform() );
|
||||
}
|
||||
}
|
||||
}
|
||||
void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
|
||||
{
|
||||
for (int i = iBegin; i < iEnd; ++i)
|
||||
{
|
||||
btRigidBody* body = rigidBodies[i];
|
||||
if (!body->isStaticOrKinematicObject())
|
||||
{
|
||||
//don't integrate/update velocities here, it happens in the constraint solver
|
||||
body->applyDamping(timeStep);
|
||||
body->predictIntegratedTransform(timeStep, body->getInterpolationWorldTransform());
|
||||
}
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
void btDiscreteDynamicsWorldMt::predictUnconstraintMotion( btScalar timeStep )
|
||||
void btDiscreteDynamicsWorldMt::predictUnconstraintMotion(btScalar timeStep)
|
||||
{
|
||||
BT_PROFILE( "predictUnconstraintMotion" );
|
||||
if ( m_nonStaticRigidBodies.size() > 0 )
|
||||
{
|
||||
UpdaterUnconstrainedMotion update;
|
||||
update.timeStep = timeStep;
|
||||
update.rigidBodies = &m_nonStaticRigidBodies[ 0 ];
|
||||
int grainSize = 50; // num of iterations per task for task scheduler
|
||||
btParallelFor( 0, m_nonStaticRigidBodies.size(), grainSize, update );
|
||||
}
|
||||
BT_PROFILE("predictUnconstraintMotion");
|
||||
if (m_nonStaticRigidBodies.size() > 0)
|
||||
{
|
||||
UpdaterUnconstrainedMotion update;
|
||||
update.timeStep = timeStep;
|
||||
update.rigidBodies = &m_nonStaticRigidBodies[0];
|
||||
int grainSize = 50; // num of iterations per task for task scheduler
|
||||
btParallelFor(0, m_nonStaticRigidBodies.size(), grainSize, update);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void btDiscreteDynamicsWorldMt::createPredictiveContacts( btScalar timeStep )
|
||||
void btDiscreteDynamicsWorldMt::createPredictiveContacts(btScalar timeStep)
|
||||
{
|
||||
BT_PROFILE( "createPredictiveContacts" );
|
||||
releasePredictiveContacts();
|
||||
if ( m_nonStaticRigidBodies.size() > 0 )
|
||||
{
|
||||
UpdaterCreatePredictiveContacts update;
|
||||
update.world = this;
|
||||
update.timeStep = timeStep;
|
||||
update.rigidBodies = &m_nonStaticRigidBodies[ 0 ];
|
||||
int grainSize = 50; // num of iterations per task for task scheduler
|
||||
btParallelFor( 0, m_nonStaticRigidBodies.size(), grainSize, update );
|
||||
}
|
||||
BT_PROFILE("createPredictiveContacts");
|
||||
releasePredictiveContacts();
|
||||
if (m_nonStaticRigidBodies.size() > 0)
|
||||
{
|
||||
UpdaterCreatePredictiveContacts update;
|
||||
update.world = this;
|
||||
update.timeStep = timeStep;
|
||||
update.rigidBodies = &m_nonStaticRigidBodies[0];
|
||||
int grainSize = 50; // num of iterations per task for task scheduler
|
||||
btParallelFor(0, m_nonStaticRigidBodies.size(), grainSize, update);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void btDiscreteDynamicsWorldMt::integrateTransforms( btScalar timeStep )
|
||||
void btDiscreteDynamicsWorldMt::integrateTransforms(btScalar timeStep)
|
||||
{
|
||||
BT_PROFILE( "integrateTransforms" );
|
||||
if ( m_nonStaticRigidBodies.size() > 0 )
|
||||
{
|
||||
UpdaterIntegrateTransforms update;
|
||||
update.world = this;
|
||||
update.timeStep = timeStep;
|
||||
update.rigidBodies = &m_nonStaticRigidBodies[ 0 ];
|
||||
int grainSize = 50; // num of iterations per task for task scheduler
|
||||
btParallelFor( 0, m_nonStaticRigidBodies.size(), grainSize, update );
|
||||
}
|
||||
BT_PROFILE("integrateTransforms");
|
||||
if (m_nonStaticRigidBodies.size() > 0)
|
||||
{
|
||||
UpdaterIntegrateTransforms update;
|
||||
update.world = this;
|
||||
update.timeStep = timeStep;
|
||||
update.rigidBodies = &m_nonStaticRigidBodies[0];
|
||||
int grainSize = 50; // num of iterations per task for task scheduler
|
||||
btParallelFor(0, m_nonStaticRigidBodies.size(), grainSize, update);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
int btDiscreteDynamicsWorldMt::stepSimulation( btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep )
|
||||
int btDiscreteDynamicsWorldMt::stepSimulation(btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep)
|
||||
{
|
||||
int numSubSteps = btDiscreteDynamicsWorld::stepSimulation(timeStep, maxSubSteps, fixedTimeStep);
|
||||
if (btITaskScheduler* scheduler = btGetTaskScheduler())
|
||||
{
|
||||
// tell Bullet's threads to sleep, so other threads can run
|
||||
scheduler->sleepWorkerThreadsHint();
|
||||
}
|
||||
return numSubSteps;
|
||||
int numSubSteps = btDiscreteDynamicsWorld::stepSimulation(timeStep, maxSubSteps, fixedTimeStep);
|
||||
if (btITaskScheduler* scheduler = btGetTaskScheduler())
|
||||
{
|
||||
// tell Bullet's threads to sleep, so other threads can run
|
||||
scheduler->sleepWorkerThreadsHint();
|
||||
}
|
||||
return numSubSteps;
|
||||
}
|
||||
|
||||
@@ -13,7 +13,6 @@ subject to the following restrictions:
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
|
||||
#ifndef BT_DISCRETE_DYNAMICS_WORLD_MT_H
|
||||
#define BT_DISCRETE_DYNAMICS_WORLD_MT_H
|
||||
|
||||
@@ -21,7 +20,6 @@ subject to the following restrictions:
|
||||
#include "btSimulationIslandManagerMt.h"
|
||||
#include "BulletDynamics/ConstraintSolver/btConstraintSolver.h"
|
||||
|
||||
|
||||
///
|
||||
/// btConstraintSolverPoolMt - masquerades as a constraint solver, but really it is a threadsafe pool of them.
|
||||
///
|
||||
@@ -34,46 +32,43 @@ subject to the following restrictions:
|
||||
class btConstraintSolverPoolMt : public btConstraintSolver
|
||||
{
|
||||
public:
|
||||
// create the solvers for me
|
||||
explicit btConstraintSolverPoolMt( int numSolvers );
|
||||
// create the solvers for me
|
||||
explicit btConstraintSolverPoolMt(int numSolvers);
|
||||
|
||||
// pass in fully constructed solvers (destructor will delete them)
|
||||
btConstraintSolverPoolMt( btConstraintSolver** solvers, int numSolvers );
|
||||
// pass in fully constructed solvers (destructor will delete them)
|
||||
btConstraintSolverPoolMt(btConstraintSolver** solvers, int numSolvers);
|
||||
|
||||
virtual ~btConstraintSolverPoolMt();
|
||||
virtual ~btConstraintSolverPoolMt();
|
||||
|
||||
///solve a group of constraints
|
||||
virtual btScalar solveGroup( btCollisionObject** bodies,
|
||||
int numBodies,
|
||||
btPersistentManifold** manifolds,
|
||||
int numManifolds,
|
||||
btTypedConstraint** constraints,
|
||||
int numConstraints,
|
||||
const btContactSolverInfo& info,
|
||||
btIDebugDraw* debugDrawer,
|
||||
btDispatcher* dispatcher
|
||||
) BT_OVERRIDE;
|
||||
///solve a group of constraints
|
||||
virtual btScalar solveGroup(btCollisionObject** bodies,
|
||||
int numBodies,
|
||||
btPersistentManifold** manifolds,
|
||||
int numManifolds,
|
||||
btTypedConstraint** constraints,
|
||||
int numConstraints,
|
||||
const btContactSolverInfo& info,
|
||||
btIDebugDraw* debugDrawer,
|
||||
btDispatcher* dispatcher) BT_OVERRIDE;
|
||||
|
||||
virtual void reset() BT_OVERRIDE;
|
||||
virtual btConstraintSolverType getSolverType() const BT_OVERRIDE { return m_solverType; }
|
||||
virtual void reset() BT_OVERRIDE;
|
||||
virtual btConstraintSolverType getSolverType() const BT_OVERRIDE { return m_solverType; }
|
||||
|
||||
private:
|
||||
const static size_t kCacheLineSize = 128;
|
||||
struct ThreadSolver
|
||||
{
|
||||
btConstraintSolver* solver;
|
||||
btSpinMutex mutex;
|
||||
char _cachelinePadding[ kCacheLineSize - sizeof( btSpinMutex ) - sizeof( void* ) ]; // keep mutexes from sharing a cache line
|
||||
};
|
||||
btAlignedObjectArray<ThreadSolver> m_solvers;
|
||||
btConstraintSolverType m_solverType;
|
||||
const static size_t kCacheLineSize = 128;
|
||||
struct ThreadSolver
|
||||
{
|
||||
btConstraintSolver* solver;
|
||||
btSpinMutex mutex;
|
||||
char _cachelinePadding[kCacheLineSize - sizeof(btSpinMutex) - sizeof(void*)]; // keep mutexes from sharing a cache line
|
||||
};
|
||||
btAlignedObjectArray<ThreadSolver> m_solvers;
|
||||
btConstraintSolverType m_solverType;
|
||||
|
||||
ThreadSolver* getAndLockThreadSolver();
|
||||
void init( btConstraintSolver** solvers, int numSolvers );
|
||||
ThreadSolver* getAndLockThreadSolver();
|
||||
void init(btConstraintSolver** solvers, int numSolvers);
|
||||
};
|
||||
|
||||
|
||||
|
||||
///
|
||||
/// btDiscreteDynamicsWorldMt -- a version of DiscreteDynamicsWorld with some minor changes to support
|
||||
/// solving simulation islands on multiple threads.
|
||||
@@ -84,53 +79,53 @@ private:
|
||||
/// - integrateTransforms
|
||||
/// - createPredictiveContacts
|
||||
///
|
||||
ATTRIBUTE_ALIGNED16(class) btDiscreteDynamicsWorldMt : public btDiscreteDynamicsWorld
|
||||
ATTRIBUTE_ALIGNED16(class)
|
||||
btDiscreteDynamicsWorldMt : public btDiscreteDynamicsWorld
|
||||
{
|
||||
protected:
|
||||
btConstraintSolver* m_constraintSolverMt;
|
||||
btConstraintSolver* m_constraintSolverMt;
|
||||
|
||||
virtual void solveConstraints(btContactSolverInfo& solverInfo) BT_OVERRIDE;
|
||||
virtual void solveConstraints(btContactSolverInfo & solverInfo) BT_OVERRIDE;
|
||||
|
||||
virtual void predictUnconstraintMotion( btScalar timeStep ) BT_OVERRIDE;
|
||||
virtual void predictUnconstraintMotion(btScalar timeStep) BT_OVERRIDE;
|
||||
|
||||
struct UpdaterCreatePredictiveContacts : public btIParallelForBody
|
||||
{
|
||||
btScalar timeStep;
|
||||
btRigidBody** rigidBodies;
|
||||
btDiscreteDynamicsWorldMt* world;
|
||||
struct UpdaterCreatePredictiveContacts : public btIParallelForBody
|
||||
{
|
||||
btScalar timeStep;
|
||||
btRigidBody** rigidBodies;
|
||||
btDiscreteDynamicsWorldMt* world;
|
||||
|
||||
void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE
|
||||
{
|
||||
world->createPredictiveContactsInternal( &rigidBodies[ iBegin ], iEnd - iBegin, timeStep );
|
||||
}
|
||||
};
|
||||
virtual void createPredictiveContacts( btScalar timeStep ) BT_OVERRIDE;
|
||||
void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
|
||||
{
|
||||
world->createPredictiveContactsInternal(&rigidBodies[iBegin], iEnd - iBegin, timeStep);
|
||||
}
|
||||
};
|
||||
virtual void createPredictiveContacts(btScalar timeStep) BT_OVERRIDE;
|
||||
|
||||
struct UpdaterIntegrateTransforms : public btIParallelForBody
|
||||
{
|
||||
btScalar timeStep;
|
||||
btRigidBody** rigidBodies;
|
||||
btDiscreteDynamicsWorldMt* world;
|
||||
struct UpdaterIntegrateTransforms : public btIParallelForBody
|
||||
{
|
||||
btScalar timeStep;
|
||||
btRigidBody** rigidBodies;
|
||||
btDiscreteDynamicsWorldMt* world;
|
||||
|
||||
void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE
|
||||
{
|
||||
world->integrateTransformsInternal( &rigidBodies[ iBegin ], iEnd - iBegin, timeStep );
|
||||
}
|
||||
};
|
||||
virtual void integrateTransforms( btScalar timeStep ) BT_OVERRIDE;
|
||||
void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
|
||||
{
|
||||
world->integrateTransformsInternal(&rigidBodies[iBegin], iEnd - iBegin, timeStep);
|
||||
}
|
||||
};
|
||||
virtual void integrateTransforms(btScalar timeStep) BT_OVERRIDE;
|
||||
|
||||
public:
|
||||
BT_DECLARE_ALIGNED_ALLOCATOR();
|
||||
|
||||
btDiscreteDynamicsWorldMt(btDispatcher* dispatcher,
|
||||
btBroadphaseInterface* pairCache,
|
||||
btConstraintSolverPoolMt* constraintSolver, // Note this should be a solver-pool for multi-threading
|
||||
btConstraintSolver* constraintSolverMt, // single multi-threaded solver for large islands (or NULL)
|
||||
btCollisionConfiguration* collisionConfiguration
|
||||
);
|
||||
btDiscreteDynamicsWorldMt(btDispatcher * dispatcher,
|
||||
btBroadphaseInterface * pairCache,
|
||||
btConstraintSolverPoolMt * constraintSolver, // Note this should be a solver-pool for multi-threading
|
||||
btConstraintSolver * constraintSolverMt, // single multi-threaded solver for large islands (or NULL)
|
||||
btCollisionConfiguration * collisionConfiguration);
|
||||
virtual ~btDiscreteDynamicsWorldMt();
|
||||
|
||||
virtual int stepSimulation( btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep ) BT_OVERRIDE;
|
||||
virtual int stepSimulation(btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep) BT_OVERRIDE;
|
||||
};
|
||||
|
||||
#endif //BT_DISCRETE_DYNAMICS_WORLD_H
|
||||
#endif //BT_DISCRETE_DYNAMICS_WORLD_H
|
||||
|
||||
@@ -24,150 +24,150 @@ class btActionInterface;
|
||||
class btConstraintSolver;
|
||||
class btDynamicsWorld;
|
||||
|
||||
|
||||
/// Type for the callback for each tick
|
||||
typedef void (*btInternalTickCallback)(btDynamicsWorld *world, btScalar timeStep);
|
||||
typedef void (*btInternalTickCallback)(btDynamicsWorld* world, btScalar timeStep);
|
||||
|
||||
enum btDynamicsWorldType
|
||||
{
|
||||
BT_SIMPLE_DYNAMICS_WORLD=1,
|
||||
BT_DISCRETE_DYNAMICS_WORLD=2,
|
||||
BT_CONTINUOUS_DYNAMICS_WORLD=3,
|
||||
BT_SOFT_RIGID_DYNAMICS_WORLD=4,
|
||||
BT_GPU_DYNAMICS_WORLD=5,
|
||||
BT_SOFT_MULTIBODY_DYNAMICS_WORLD=6
|
||||
BT_SIMPLE_DYNAMICS_WORLD = 1,
|
||||
BT_DISCRETE_DYNAMICS_WORLD = 2,
|
||||
BT_CONTINUOUS_DYNAMICS_WORLD = 3,
|
||||
BT_SOFT_RIGID_DYNAMICS_WORLD = 4,
|
||||
BT_GPU_DYNAMICS_WORLD = 5,
|
||||
BT_SOFT_MULTIBODY_DYNAMICS_WORLD = 6
|
||||
};
|
||||
|
||||
///The btDynamicsWorld is the interface class for several dynamics implementation, basic, discrete, parallel, and continuous etc.
|
||||
class btDynamicsWorld : public btCollisionWorld
|
||||
{
|
||||
|
||||
protected:
|
||||
btInternalTickCallback m_internalTickCallback;
|
||||
btInternalTickCallback m_internalPreTickCallback;
|
||||
void* m_worldUserInfo;
|
||||
btInternalTickCallback m_internalTickCallback;
|
||||
btInternalTickCallback m_internalPreTickCallback;
|
||||
void* m_worldUserInfo;
|
||||
|
||||
btContactSolverInfo m_solverInfo;
|
||||
btContactSolverInfo m_solverInfo;
|
||||
|
||||
public:
|
||||
|
||||
btDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* broadphase, btCollisionConfiguration* collisionConfiguration)
|
||||
: btCollisionWorld(dispatcher, broadphase, collisionConfiguration), m_internalTickCallback(0), m_internalPreTickCallback(0), m_worldUserInfo(0)
|
||||
{
|
||||
}
|
||||
|
||||
btDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* broadphase,btCollisionConfiguration* collisionConfiguration)
|
||||
:btCollisionWorld(dispatcher,broadphase,collisionConfiguration), m_internalTickCallback(0),m_internalPreTickCallback(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 addAction(btActionInterface* action) = 0;
|
||||
|
||||
virtual void removeAction(btActionInterface* action) = 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 btVector3 getGravity() const = 0;
|
||||
|
||||
virtual void synchronizeMotionStates() = 0;
|
||||
|
||||
virtual void addRigidBody(btRigidBody* body) = 0;
|
||||
|
||||
virtual void addRigidBody(btRigidBody* body, int group, int mask) = 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, bool isPreTick = false)
|
||||
{
|
||||
if (isPreTick)
|
||||
{
|
||||
m_internalPreTickCallback = cb;
|
||||
}
|
||||
|
||||
virtual ~btDynamicsWorld()
|
||||
else
|
||||
{
|
||||
m_internalTickCallback = cb;
|
||||
}
|
||||
|
||||
///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;
|
||||
}
|
||||
m_worldUserInfo = worldUserInfo;
|
||||
}
|
||||
|
||||
virtual void removeConstraint(btTypedConstraint* constraint) {(void)constraint;}
|
||||
void setWorldUserInfo(void* worldUserInfo)
|
||||
{
|
||||
m_worldUserInfo = worldUserInfo;
|
||||
}
|
||||
|
||||
virtual void addAction(btActionInterface* action) = 0;
|
||||
void* getWorldUserInfo() const
|
||||
{
|
||||
return m_worldUserInfo;
|
||||
}
|
||||
|
||||
virtual void removeAction(btActionInterface* action) = 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 btVector3 getGravity () const = 0;
|
||||
|
||||
virtual void synchronizeMotionStates() = 0;
|
||||
|
||||
virtual void addRigidBody(btRigidBody* body) = 0;
|
||||
|
||||
virtual void addRigidBody(btRigidBody* body, int group, int mask) = 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,bool isPreTick=false)
|
||||
{
|
||||
if (isPreTick)
|
||||
{
|
||||
m_internalPreTickCallback = cb;
|
||||
} else
|
||||
{
|
||||
m_internalTickCallback = cb;
|
||||
}
|
||||
m_worldUserInfo = worldUserInfo;
|
||||
}
|
||||
|
||||
void setWorldUserInfo(void* worldUserInfo)
|
||||
{
|
||||
m_worldUserInfo = worldUserInfo;
|
||||
}
|
||||
|
||||
void* getWorldUserInfo() const
|
||||
{
|
||||
return m_worldUserInfo;
|
||||
}
|
||||
|
||||
btContactSolverInfo& getSolverInfo()
|
||||
{
|
||||
return m_solverInfo;
|
||||
}
|
||||
|
||||
const btContactSolverInfo& getSolverInfo() const
|
||||
{
|
||||
return m_solverInfo;
|
||||
}
|
||||
|
||||
|
||||
///obsolete, use addAction instead.
|
||||
virtual void addVehicle(btActionInterface* vehicle) {(void)vehicle;}
|
||||
///obsolete, use removeAction instead
|
||||
virtual void removeVehicle(btActionInterface* vehicle) {(void)vehicle;}
|
||||
///obsolete, use addAction instead.
|
||||
virtual void addCharacter(btActionInterface* character) {(void)character;}
|
||||
///obsolete, use removeAction instead
|
||||
virtual void removeCharacter(btActionInterface* character) {(void)character;}
|
||||
btContactSolverInfo& getSolverInfo()
|
||||
{
|
||||
return m_solverInfo;
|
||||
}
|
||||
|
||||
const btContactSolverInfo& getSolverInfo() const
|
||||
{
|
||||
return m_solverInfo;
|
||||
}
|
||||
|
||||
///obsolete, use addAction instead.
|
||||
virtual void addVehicle(btActionInterface* vehicle) { (void)vehicle; }
|
||||
///obsolete, use removeAction instead
|
||||
virtual void removeVehicle(btActionInterface* vehicle) { (void)vehicle; }
|
||||
///obsolete, use addAction instead.
|
||||
virtual void addCharacter(btActionInterface* character) { (void)character; }
|
||||
///obsolete, use removeAction instead
|
||||
virtual void removeCharacter(btActionInterface* character) { (void)character; }
|
||||
};
|
||||
|
||||
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
|
||||
struct btDynamicsWorldDoubleData
|
||||
{
|
||||
btContactSolverInfoDoubleData m_solverInfo;
|
||||
btVector3DoubleData m_gravity;
|
||||
btContactSolverInfoDoubleData m_solverInfo;
|
||||
btVector3DoubleData m_gravity;
|
||||
};
|
||||
|
||||
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
|
||||
struct btDynamicsWorldFloatData
|
||||
{
|
||||
btContactSolverInfoFloatData m_solverInfo;
|
||||
btVector3FloatData m_gravity;
|
||||
btContactSolverInfoFloatData m_solverInfo;
|
||||
btVector3FloatData m_gravity;
|
||||
};
|
||||
|
||||
|
||||
#endif //BT_DYNAMICS_WORLD_H
|
||||
|
||||
|
||||
#endif //BT_DYNAMICS_WORLD_H
|
||||
|
||||
@@ -22,36 +22,34 @@ subject to the following restrictions:
|
||||
#include "LinearMath/btSerializer.h"
|
||||
|
||||
//'temporarily' global variables
|
||||
btScalar gDeactivationTime = btScalar(2.);
|
||||
bool gDisableDeactivation = false;
|
||||
btScalar gDeactivationTime = btScalar(2.);
|
||||
bool gDisableDeactivation = false;
|
||||
static int uniqueId = 0;
|
||||
|
||||
|
||||
btRigidBody::btRigidBody(const btRigidBody::btRigidBodyConstructionInfo& constructionInfo)
|
||||
{
|
||||
setupRigidBody(constructionInfo);
|
||||
}
|
||||
|
||||
btRigidBody::btRigidBody(btScalar mass, btMotionState *motionState, btCollisionShape *collisionShape, const btVector3 &localInertia)
|
||||
btRigidBody::btRigidBody(btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia)
|
||||
{
|
||||
btRigidBodyConstructionInfo cinfo(mass,motionState,collisionShape,localInertia);
|
||||
btRigidBodyConstructionInfo cinfo(mass, motionState, collisionShape, localInertia);
|
||||
setupRigidBody(cinfo);
|
||||
}
|
||||
|
||||
void btRigidBody::setupRigidBody(const btRigidBody::btRigidBodyConstructionInfo& constructionInfo)
|
||||
void btRigidBody::setupRigidBody(const btRigidBody::btRigidBodyConstructionInfo& constructionInfo)
|
||||
{
|
||||
|
||||
m_internalType=CO_RIGID_BODY;
|
||||
m_internalType = CO_RIGID_BODY;
|
||||
|
||||
m_linearVelocity.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
|
||||
m_angularVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
|
||||
m_angularFactor.setValue(1,1,1);
|
||||
m_linearFactor.setValue(1,1,1);
|
||||
m_angularVelocity.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
|
||||
m_angularFactor.setValue(1, 1, 1);
|
||||
m_linearFactor.setValue(1, 1, 1);
|
||||
m_gravity.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
|
||||
m_gravity_acceleration.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
|
||||
m_totalForce.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
|
||||
m_totalTorque.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
|
||||
setDamping(constructionInfo.m_linearDamping, constructionInfo.m_angularDamping);
|
||||
setDamping(constructionInfo.m_linearDamping, constructionInfo.m_angularDamping);
|
||||
|
||||
m_linearSleepingThreshold = constructionInfo.m_linearSleepingThreshold;
|
||||
m_angularSleepingThreshold = constructionInfo.m_angularSleepingThreshold;
|
||||
@@ -67,48 +65,44 @@ void btRigidBody::setupRigidBody(const btRigidBody::btRigidBodyConstructionInfo&
|
||||
if (m_optionalMotionState)
|
||||
{
|
||||
m_optionalMotionState->getWorldTransform(m_worldTransform);
|
||||
} else
|
||||
}
|
||||
else
|
||||
{
|
||||
m_worldTransform = constructionInfo.m_startWorldTransform;
|
||||
}
|
||||
|
||||
m_interpolationWorldTransform = m_worldTransform;
|
||||
m_interpolationLinearVelocity.setValue(0,0,0);
|
||||
m_interpolationAngularVelocity.setValue(0,0,0);
|
||||
|
||||
m_interpolationLinearVelocity.setValue(0, 0, 0);
|
||||
m_interpolationAngularVelocity.setValue(0, 0, 0);
|
||||
|
||||
//moved to btCollisionObject
|
||||
m_friction = constructionInfo.m_friction;
|
||||
m_rollingFriction = constructionInfo.m_rollingFriction;
|
||||
m_spinningFriction = constructionInfo.m_spinningFriction;
|
||||
|
||||
m_spinningFriction = constructionInfo.m_spinningFriction;
|
||||
|
||||
m_restitution = constructionInfo.m_restitution;
|
||||
|
||||
setCollisionShape( constructionInfo.m_collisionShape );
|
||||
setCollisionShape(constructionInfo.m_collisionShape);
|
||||
m_debugBodyId = uniqueId++;
|
||||
|
||||
|
||||
setMassProps(constructionInfo.m_mass, constructionInfo.m_localInertia);
|
||||
updateInertiaTensor();
|
||||
|
||||
m_rigidbodyFlags = BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY;
|
||||
|
||||
|
||||
m_deltaLinearVelocity.setZero();
|
||||
m_deltaAngularVelocity.setZero();
|
||||
m_invMass = m_inverseMass*m_linearFactor;
|
||||
m_invMass = m_inverseMass * m_linearFactor;
|
||||
m_pushVelocity.setZero();
|
||||
m_turnVelocity.setZero();
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
void btRigidBody::predictIntegratedTransform(btScalar timeStep,btTransform& predictedTransform)
|
||||
void btRigidBody::predictIntegratedTransform(btScalar timeStep, btTransform& predictedTransform)
|
||||
{
|
||||
btTransformUtil::integrateTransform(m_worldTransform,m_linearVelocity,m_angularVelocity,timeStep,predictedTransform);
|
||||
btTransformUtil::integrateTransform(m_worldTransform, m_linearVelocity, m_angularVelocity, timeStep, predictedTransform);
|
||||
}
|
||||
|
||||
void btRigidBody::saveKinematicState(btScalar timeStep)
|
||||
void btRigidBody::saveKinematicState(btScalar timeStep)
|
||||
{
|
||||
//todo: clamp to some (user definable) safe minimum timestep, to limit maximum angular/linear velocities
|
||||
if (timeStep != btScalar(0.))
|
||||
@@ -116,25 +110,22 @@ void btRigidBody::saveKinematicState(btScalar timeStep)
|
||||
//if we use motionstate to synchronize world transforms, get the new kinematic/animated world transform
|
||||
if (getMotionState())
|
||||
getMotionState()->getWorldTransform(m_worldTransform);
|
||||
btVector3 linVel,angVel;
|
||||
|
||||
btTransformUtil::calculateVelocity(m_interpolationWorldTransform,m_worldTransform,timeStep,m_linearVelocity,m_angularVelocity);
|
||||
btVector3 linVel, angVel;
|
||||
|
||||
btTransformUtil::calculateVelocity(m_interpolationWorldTransform, m_worldTransform, timeStep, m_linearVelocity, m_angularVelocity);
|
||||
m_interpolationLinearVelocity = m_linearVelocity;
|
||||
m_interpolationAngularVelocity = m_angularVelocity;
|
||||
m_interpolationWorldTransform = m_worldTransform;
|
||||
//printf("angular = %f %f %f\n",m_angularVelocity.getX(),m_angularVelocity.getY(),m_angularVelocity.getZ());
|
||||
}
|
||||
}
|
||||
|
||||
void btRigidBody::getAabb(btVector3& aabbMin,btVector3& aabbMax) const
|
||||
|
||||
void btRigidBody::getAabb(btVector3& aabbMin, btVector3& aabbMax) const
|
||||
{
|
||||
getCollisionShape()->getAabb(m_worldTransform,aabbMin,aabbMax);
|
||||
getCollisionShape()->getAabb(m_worldTransform, aabbMin, aabbMax);
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
void btRigidBody::setGravity(const btVector3& acceleration)
|
||||
void btRigidBody::setGravity(const btVector3& acceleration)
|
||||
{
|
||||
if (m_inverseMass != btScalar(0.0))
|
||||
{
|
||||
@@ -143,22 +134,14 @@ void btRigidBody::setGravity(const btVector3& acceleration)
|
||||
m_gravity_acceleration = acceleration;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
void btRigidBody::setDamping(btScalar lin_damping, btScalar ang_damping)
|
||||
{
|
||||
m_linearDamping = btClamped(lin_damping, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
|
||||
m_angularDamping = btClamped(ang_damping, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
///applyDamping damps the velocity, using the given m_linearDamping and m_angularDamping
|
||||
void btRigidBody::applyDamping(btScalar timeStep)
|
||||
void btRigidBody::applyDamping(btScalar timeStep)
|
||||
{
|
||||
//On new damping: see discussion/issue report here: http://code.google.com/p/bullet/issues/detail?id=74
|
||||
//todo: do some performance comparisons (but other parts of the engine are probably bottleneck anyway
|
||||
@@ -168,8 +151,8 @@ void btRigidBody::applyDamping(btScalar timeStep)
|
||||
m_linearVelocity *= GEN_clamped((btScalar(1.) - timeStep * m_linearDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
|
||||
m_angularVelocity *= GEN_clamped((btScalar(1.) - timeStep * m_angularDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
|
||||
#else
|
||||
m_linearVelocity *= btPow(btScalar(1)-m_linearDamping, timeStep);
|
||||
m_angularVelocity *= btPow(btScalar(1)-m_angularDamping, timeStep);
|
||||
m_linearVelocity *= btPow(btScalar(1) - m_linearDamping, timeStep);
|
||||
m_angularVelocity *= btPow(btScalar(1) - m_angularDamping, timeStep);
|
||||
#endif
|
||||
|
||||
if (m_additionalDamping)
|
||||
@@ -182,7 +165,6 @@ void btRigidBody::applyDamping(btScalar timeStep)
|
||||
m_angularVelocity *= m_additionalDampingFactor;
|
||||
m_linearVelocity *= m_additionalDampingFactor;
|
||||
}
|
||||
|
||||
|
||||
btScalar speed = m_linearVelocity.length();
|
||||
if (speed < m_linearDamping)
|
||||
@@ -191,10 +173,11 @@ void btRigidBody::applyDamping(btScalar timeStep)
|
||||
if (speed > dampVel)
|
||||
{
|
||||
btVector3 dir = m_linearVelocity.normalized();
|
||||
m_linearVelocity -= dir * dampVel;
|
||||
} else
|
||||
m_linearVelocity -= dir * dampVel;
|
||||
}
|
||||
else
|
||||
{
|
||||
m_linearVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
|
||||
m_linearVelocity.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
|
||||
}
|
||||
}
|
||||
|
||||
@@ -205,30 +188,28 @@ void btRigidBody::applyDamping(btScalar timeStep)
|
||||
if (angSpeed > angDampVel)
|
||||
{
|
||||
btVector3 dir = m_angularVelocity.normalized();
|
||||
m_angularVelocity -= dir * angDampVel;
|
||||
} else
|
||||
m_angularVelocity -= dir * angDampVel;
|
||||
}
|
||||
else
|
||||
{
|
||||
m_angularVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
|
||||
m_angularVelocity.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void btRigidBody::applyGravity()
|
||||
{
|
||||
if (isStaticOrKinematicObject())
|
||||
return;
|
||||
|
||||
applyCentralForce(m_gravity);
|
||||
|
||||
applyCentralForce(m_gravity);
|
||||
}
|
||||
|
||||
void btRigidBody::proceedToTransform(const btTransform& newTrans)
|
||||
{
|
||||
setCenterOfMassTransform( newTrans );
|
||||
setCenterOfMassTransform(newTrans);
|
||||
}
|
||||
|
||||
|
||||
void btRigidBody::setMassProps(btScalar mass, const btVector3& inertia)
|
||||
{
|
||||
@@ -236,7 +217,8 @@ void btRigidBody::setMassProps(btScalar mass, const btVector3& inertia)
|
||||
{
|
||||
m_collisionFlags |= btCollisionObject::CF_STATIC_OBJECT;
|
||||
m_inverseMass = btScalar(0.);
|
||||
} else
|
||||
}
|
||||
else
|
||||
{
|
||||
m_collisionFlags &= (~btCollisionObject::CF_STATIC_OBJECT);
|
||||
m_inverseMass = btScalar(1.0) / mass;
|
||||
@@ -244,50 +226,45 @@ void btRigidBody::setMassProps(btScalar mass, const btVector3& inertia)
|
||||
|
||||
//Fg = m * a
|
||||
m_gravity = mass * m_gravity_acceleration;
|
||||
|
||||
m_invInertiaLocal.setValue(inertia.x() != btScalar(0.0) ? btScalar(1.0) / inertia.x(): btScalar(0.0),
|
||||
inertia.y() != btScalar(0.0) ? btScalar(1.0) / inertia.y(): btScalar(0.0),
|
||||
inertia.z() != btScalar(0.0) ? btScalar(1.0) / inertia.z(): btScalar(0.0));
|
||||
|
||||
m_invMass = m_linearFactor*m_inverseMass;
|
||||
m_invInertiaLocal.setValue(inertia.x() != btScalar(0.0) ? btScalar(1.0) / inertia.x() : btScalar(0.0),
|
||||
inertia.y() != btScalar(0.0) ? btScalar(1.0) / inertia.y() : btScalar(0.0),
|
||||
inertia.z() != btScalar(0.0) ? btScalar(1.0) / inertia.z() : btScalar(0.0));
|
||||
|
||||
m_invMass = m_linearFactor * m_inverseMass;
|
||||
}
|
||||
|
||||
|
||||
void btRigidBody::updateInertiaTensor()
|
||||
void btRigidBody::updateInertiaTensor()
|
||||
{
|
||||
m_invInertiaTensorWorld = m_worldTransform.getBasis().scaled(m_invInertiaLocal) * m_worldTransform.getBasis().transpose();
|
||||
}
|
||||
|
||||
|
||||
|
||||
btVector3 btRigidBody::getLocalInertia() const
|
||||
{
|
||||
|
||||
btVector3 inertiaLocal;
|
||||
const btVector3 inertia = m_invInertiaLocal;
|
||||
inertiaLocal.setValue(inertia.x() != btScalar(0.0) ? btScalar(1.0) / inertia.x() : btScalar(0.0),
|
||||
inertia.y() != btScalar(0.0) ? btScalar(1.0) / inertia.y() : btScalar(0.0),
|
||||
inertia.z() != btScalar(0.0) ? btScalar(1.0) / inertia.z() : btScalar(0.0));
|
||||
inertia.y() != btScalar(0.0) ? btScalar(1.0) / inertia.y() : btScalar(0.0),
|
||||
inertia.z() != btScalar(0.0) ? btScalar(1.0) / inertia.z() : btScalar(0.0));
|
||||
return inertiaLocal;
|
||||
}
|
||||
|
||||
inline btVector3 evalEulerEqn(const btVector3& w1, const btVector3& w0, const btVector3& T, const btScalar dt,
|
||||
const btMatrix3x3 &I)
|
||||
const btMatrix3x3& I)
|
||||
{
|
||||
const btVector3 w2 = I*w1 + w1.cross(I*w1)*dt - (T*dt + I*w0);
|
||||
const btVector3 w2 = I * w1 + w1.cross(I * w1) * dt - (T * dt + I * w0);
|
||||
return w2;
|
||||
}
|
||||
|
||||
inline btMatrix3x3 evalEulerEqnDeriv(const btVector3& w1, const btVector3& w0, const btScalar dt,
|
||||
const btMatrix3x3 &I)
|
||||
const btMatrix3x3& I)
|
||||
{
|
||||
|
||||
btMatrix3x3 w1x, Iw1x;
|
||||
const btVector3 Iwi = (I*w1);
|
||||
const btVector3 Iwi = (I * w1);
|
||||
w1.getSkewSymmetricMatrix(&w1x[0], &w1x[1], &w1x[2]);
|
||||
Iwi.getSkewSymmetricMatrix(&Iw1x[0], &Iw1x[1], &Iw1x[2]);
|
||||
|
||||
const btMatrix3x3 dfw1 = I + (w1x*I - Iw1x)*dt;
|
||||
const btMatrix3x3 dfw1 = I + (w1x * I - Iw1x) * dt;
|
||||
return dfw1;
|
||||
}
|
||||
|
||||
@@ -295,58 +272,55 @@ btVector3 btRigidBody::computeGyroscopicForceExplicit(btScalar maxGyroscopicForc
|
||||
{
|
||||
btVector3 inertiaLocal = getLocalInertia();
|
||||
btMatrix3x3 inertiaTensorWorld = getWorldTransform().getBasis().scaled(inertiaLocal) * getWorldTransform().getBasis().transpose();
|
||||
btVector3 tmp = inertiaTensorWorld*getAngularVelocity();
|
||||
btVector3 tmp = inertiaTensorWorld * getAngularVelocity();
|
||||
btVector3 gf = getAngularVelocity().cross(tmp);
|
||||
btScalar l2 = gf.length2();
|
||||
if (l2>maxGyroscopicForce*maxGyroscopicForce)
|
||||
if (l2 > maxGyroscopicForce * maxGyroscopicForce)
|
||||
{
|
||||
gf *= btScalar(1.)/btSqrt(l2)*maxGyroscopicForce;
|
||||
gf *= btScalar(1.) / btSqrt(l2) * maxGyroscopicForce;
|
||||
}
|
||||
return gf;
|
||||
}
|
||||
|
||||
|
||||
btVector3 btRigidBody::computeGyroscopicImpulseImplicit_Body(btScalar step) const
|
||||
{
|
||||
{
|
||||
btVector3 idl = getLocalInertia();
|
||||
btVector3 omega1 = getAngularVelocity();
|
||||
btQuaternion q = getWorldTransform().getRotation();
|
||||
|
||||
|
||||
// Convert to body coordinates
|
||||
btVector3 omegab = quatRotate(q.inverse(), omega1);
|
||||
btMatrix3x3 Ib;
|
||||
Ib.setValue(idl.x(),0,0,
|
||||
0,idl.y(),0,
|
||||
0,0,idl.z());
|
||||
|
||||
btVector3 ibo = Ib*omegab;
|
||||
Ib.setValue(idl.x(), 0, 0,
|
||||
0, idl.y(), 0,
|
||||
0, 0, idl.z());
|
||||
|
||||
btVector3 ibo = Ib * omegab;
|
||||
|
||||
// Residual vector
|
||||
btVector3 f = step * omegab.cross(ibo);
|
||||
|
||||
|
||||
btMatrix3x3 skew0;
|
||||
omegab.getSkewSymmetricMatrix(&skew0[0], &skew0[1], &skew0[2]);
|
||||
btVector3 om = Ib*omegab;
|
||||
btVector3 om = Ib * omegab;
|
||||
btMatrix3x3 skew1;
|
||||
om.getSkewSymmetricMatrix(&skew1[0],&skew1[1],&skew1[2]);
|
||||
|
||||
om.getSkewSymmetricMatrix(&skew1[0], &skew1[1], &skew1[2]);
|
||||
|
||||
// Jacobian
|
||||
btMatrix3x3 J = Ib + (skew0*Ib - skew1)*step;
|
||||
|
||||
// btMatrix3x3 Jinv = J.inverse();
|
||||
// btVector3 omega_div = Jinv*f;
|
||||
btMatrix3x3 J = Ib + (skew0 * Ib - skew1) * step;
|
||||
|
||||
// btMatrix3x3 Jinv = J.inverse();
|
||||
// btVector3 omega_div = Jinv*f;
|
||||
btVector3 omega_div = J.solve33(f);
|
||||
|
||||
|
||||
// Single Newton-Raphson update
|
||||
omegab = omegab - omega_div;//Solve33(J, f);
|
||||
omegab = omegab - omega_div; //Solve33(J, f);
|
||||
// Back to world coordinates
|
||||
btVector3 omega2 = quatRotate(q,omegab);
|
||||
btVector3 gf = omega2-omega1;
|
||||
btVector3 omega2 = quatRotate(q, omegab);
|
||||
btVector3 gf = omega2 - omega1;
|
||||
return gf;
|
||||
}
|
||||
|
||||
|
||||
|
||||
btVector3 btRigidBody::computeGyroscopicImpulseImplicit_World(btScalar step) const
|
||||
{
|
||||
// use full newton-euler equations. common practice to drop the wxIw term. want it for better tumbling behavior.
|
||||
@@ -361,7 +335,7 @@ btVector3 btRigidBody::computeGyroscopicImpulseImplicit_World(btScalar step) con
|
||||
m_worldTransform.getBasis().transpose();
|
||||
|
||||
// use newtons method to find implicit solution for new angular velocity (w')
|
||||
// f(w') = -(T*step + Iw) + Iw' + w' + w'xIw'*step = 0
|
||||
// f(w') = -(T*step + Iw) + Iw' + w' + w'xIw'*step = 0
|
||||
// df/dw' = I + 1xIw'*step + w'xI*step
|
||||
|
||||
btVector3 w1 = w0;
|
||||
@@ -383,8 +357,7 @@ btVector3 btRigidBody::computeGyroscopicImpulseImplicit_World(btScalar step) con
|
||||
return gf;
|
||||
}
|
||||
|
||||
|
||||
void btRigidBody::integrateVelocities(btScalar step)
|
||||
void btRigidBody::integrateVelocities(btScalar step)
|
||||
{
|
||||
if (isStaticOrKinematicObject())
|
||||
return;
|
||||
@@ -393,30 +366,28 @@ void btRigidBody::integrateVelocities(btScalar step)
|
||||
m_angularVelocity += m_invInertiaTensorWorld * m_totalTorque * step;
|
||||
|
||||
#define MAX_ANGVEL SIMD_HALF_PI
|
||||
/// clamp angular velocity. collision calculations will fail on higher angular velocities
|
||||
/// clamp angular velocity. collision calculations will fail on higher angular velocities
|
||||
btScalar angvel = m_angularVelocity.length();
|
||||
if (angvel*step > MAX_ANGVEL)
|
||||
if (angvel * step > MAX_ANGVEL)
|
||||
{
|
||||
m_angularVelocity *= (MAX_ANGVEL/step) /angvel;
|
||||
m_angularVelocity *= (MAX_ANGVEL / step) / angvel;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
btQuaternion btRigidBody::getOrientation() const
|
||||
{
|
||||
btQuaternion orn;
|
||||
m_worldTransform.getBasis().getRotation(orn);
|
||||
return orn;
|
||||
btQuaternion orn;
|
||||
m_worldTransform.getBasis().getRotation(orn);
|
||||
return orn;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void btRigidBody::setCenterOfMassTransform(const btTransform& xform)
|
||||
{
|
||||
|
||||
if (isKinematicObject())
|
||||
{
|
||||
m_interpolationWorldTransform = m_worldTransform;
|
||||
} else
|
||||
}
|
||||
else
|
||||
{
|
||||
m_interpolationWorldTransform = xform;
|
||||
}
|
||||
@@ -426,10 +397,6 @@ void btRigidBody::setCenterOfMassTransform(const btTransform& xform)
|
||||
updateInertiaTensor();
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
void btRigidBody::addConstraintRef(btTypedConstraint* c)
|
||||
{
|
||||
///disable collision with the 'other' body
|
||||
@@ -450,39 +417,39 @@ void btRigidBody::addConstraintRef(btTypedConstraint* c)
|
||||
{
|
||||
colObjB->setIgnoreCollisionCheck(colObjA, true);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void btRigidBody::removeConstraintRef(btTypedConstraint* c)
|
||||
{
|
||||
int index = m_constraintRefs.findLinearSearch(c);
|
||||
//don't remove constraints that are not referenced
|
||||
if(index < m_constraintRefs.size())
|
||||
{
|
||||
m_constraintRefs.remove(c);
|
||||
btCollisionObject* colObjA = &c->getRigidBodyA();
|
||||
btCollisionObject* colObjB = &c->getRigidBodyB();
|
||||
if (colObjA == this)
|
||||
{
|
||||
colObjA->setIgnoreCollisionCheck(colObjB, false);
|
||||
}
|
||||
else
|
||||
{
|
||||
colObjB->setIgnoreCollisionCheck(colObjA, false);
|
||||
}
|
||||
}
|
||||
if (index < m_constraintRefs.size())
|
||||
{
|
||||
m_constraintRefs.remove(c);
|
||||
btCollisionObject* colObjA = &c->getRigidBodyA();
|
||||
btCollisionObject* colObjB = &c->getRigidBodyB();
|
||||
if (colObjA == this)
|
||||
{
|
||||
colObjA->setIgnoreCollisionCheck(colObjB, false);
|
||||
}
|
||||
else
|
||||
{
|
||||
colObjB->setIgnoreCollisionCheck(colObjA, false);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
int btRigidBody::calculateSerializeBufferSize() const
|
||||
int btRigidBody::calculateSerializeBufferSize() const
|
||||
{
|
||||
int sz = sizeof(btRigidBodyData);
|
||||
return sz;
|
||||
}
|
||||
|
||||
///fills the dataBuffer and returns the struct name (and 0 on failure)
|
||||
const char* btRigidBody::serialize(void* dataBuffer, class btSerializer* serializer) const
|
||||
///fills the dataBuffer and returns the struct name (and 0 on failure)
|
||||
const char* btRigidBody::serialize(void* dataBuffer, class btSerializer* serializer) const
|
||||
{
|
||||
btRigidBodyData* rbd = (btRigidBodyData*) dataBuffer;
|
||||
btRigidBodyData* rbd = (btRigidBodyData*)dataBuffer;
|
||||
|
||||
btCollisionObject::serialize(&rbd->m_collisionObjectData, serializer);
|
||||
|
||||
@@ -504,7 +471,7 @@ const char* btRigidBody::serialize(void* dataBuffer, class btSerializer* seriali
|
||||
rbd->m_additionalLinearDampingThresholdSqr = m_additionalLinearDampingThresholdSqr;
|
||||
rbd->m_additionalAngularDampingThresholdSqr = m_additionalAngularDampingThresholdSqr;
|
||||
rbd->m_additionalAngularDampingFactor = m_additionalAngularDampingFactor;
|
||||
rbd->m_linearSleepingThreshold=m_linearSleepingThreshold;
|
||||
rbd->m_linearSleepingThreshold = m_linearSleepingThreshold;
|
||||
rbd->m_angularSleepingThreshold = m_angularSleepingThreshold;
|
||||
|
||||
// Fill padding with zeros to appease msan.
|
||||
@@ -515,13 +482,9 @@ const char* btRigidBody::serialize(void* dataBuffer, class btSerializer* seriali
|
||||
return btRigidBodyDataName;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void btRigidBody::serializeSingleObject(class btSerializer* serializer) const
|
||||
{
|
||||
btChunk* chunk = serializer->allocate(calculateSerializeBufferSize(),1);
|
||||
btChunk* chunk = serializer->allocate(calculateSerializeBufferSize(), 1);
|
||||
const char* structType = serialize(chunk->m_oldPtr, serializer);
|
||||
serializer->finalizeChunk(chunk,structType,BT_RIGIDBODY_CODE,(void*)this);
|
||||
serializer->finalizeChunk(chunk, structType, BT_RIGIDBODY_CODE, (void*)this);
|
||||
}
|
||||
|
||||
|
||||
|
||||
@@ -25,209 +25,195 @@ class btCollisionShape;
|
||||
class btMotionState;
|
||||
class btTypedConstraint;
|
||||
|
||||
|
||||
extern btScalar gDeactivationTime;
|
||||
extern bool gDisableDeactivation;
|
||||
|
||||
#ifdef BT_USE_DOUBLE_PRECISION
|
||||
#define btRigidBodyData btRigidBodyDoubleData
|
||||
#define btRigidBodyDataName "btRigidBodyDoubleData"
|
||||
#define btRigidBodyData btRigidBodyDoubleData
|
||||
#define btRigidBodyDataName "btRigidBodyDoubleData"
|
||||
#else
|
||||
#define btRigidBodyData btRigidBodyFloatData
|
||||
#define btRigidBodyDataName "btRigidBodyFloatData"
|
||||
#endif //BT_USE_DOUBLE_PRECISION
|
||||
#define btRigidBodyData btRigidBodyFloatData
|
||||
#define btRigidBodyDataName "btRigidBodyFloatData"
|
||||
#endif //BT_USE_DOUBLE_PRECISION
|
||||
|
||||
|
||||
enum btRigidBodyFlags
|
||||
enum btRigidBodyFlags
|
||||
{
|
||||
BT_DISABLE_WORLD_GRAVITY = 1,
|
||||
///BT_ENABLE_GYROPSCOPIC_FORCE flags is enabled by default in Bullet 2.83 and onwards.
|
||||
///and it BT_ENABLE_GYROPSCOPIC_FORCE becomes equivalent to BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY
|
||||
///See Demos/GyroscopicDemo and computeGyroscopicImpulseImplicit
|
||||
BT_ENABLE_GYROSCOPIC_FORCE_EXPLICIT = 2,
|
||||
BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_WORLD=4,
|
||||
BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY=8,
|
||||
BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_WORLD = 4,
|
||||
BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY = 8,
|
||||
BT_ENABLE_GYROPSCOPIC_FORCE = BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY,
|
||||
};
|
||||
|
||||
|
||||
///The btRigidBody is the main class for rigid body objects. It is derived from btCollisionObject, so it keeps a pointer to a btCollisionShape.
|
||||
///It is recommended for performance and memory use to share btCollisionShape objects whenever possible.
|
||||
///There are 3 types of rigid bodies:
|
||||
///There are 3 types of rigid bodies:
|
||||
///- A) Dynamic rigid bodies, with positive mass. Motion is controlled by rigid body dynamics.
|
||||
///- B) Fixed objects with zero mass. They are not moving (basically collision objects)
|
||||
///- C) Kinematic objects, which are objects without mass, but the user can move them. There is on-way interaction, and Bullet calculates a velocity based on the timestep and previous and current world transform.
|
||||
///Bullet automatically deactivates dynamic rigid bodies, when the velocity is below a threshold for a given time.
|
||||
///Deactivated (sleeping) rigid bodies don't take any processing time, except a minor broadphase collision detection impact (to allow active objects to activate/wake up sleeping objects)
|
||||
class btRigidBody : public btCollisionObject
|
||||
class btRigidBody : public btCollisionObject
|
||||
{
|
||||
btMatrix3x3 m_invInertiaTensorWorld;
|
||||
btVector3 m_linearVelocity;
|
||||
btVector3 m_angularVelocity;
|
||||
btScalar m_inverseMass;
|
||||
btVector3 m_linearFactor;
|
||||
|
||||
btMatrix3x3 m_invInertiaTensorWorld;
|
||||
btVector3 m_linearVelocity;
|
||||
btVector3 m_angularVelocity;
|
||||
btScalar m_inverseMass;
|
||||
btVector3 m_linearFactor;
|
||||
btVector3 m_gravity;
|
||||
btVector3 m_gravity_acceleration;
|
||||
btVector3 m_invInertiaLocal;
|
||||
btVector3 m_totalForce;
|
||||
btVector3 m_totalTorque;
|
||||
|
||||
btVector3 m_gravity;
|
||||
btVector3 m_gravity_acceleration;
|
||||
btVector3 m_invInertiaLocal;
|
||||
btVector3 m_totalForce;
|
||||
btVector3 m_totalTorque;
|
||||
|
||||
btScalar m_linearDamping;
|
||||
btScalar m_angularDamping;
|
||||
btScalar m_linearDamping;
|
||||
btScalar m_angularDamping;
|
||||
|
||||
bool m_additionalDamping;
|
||||
btScalar m_additionalDampingFactor;
|
||||
btScalar m_additionalLinearDampingThresholdSqr;
|
||||
btScalar m_additionalAngularDampingThresholdSqr;
|
||||
btScalar m_additionalAngularDampingFactor;
|
||||
bool m_additionalDamping;
|
||||
btScalar m_additionalDampingFactor;
|
||||
btScalar m_additionalLinearDampingThresholdSqr;
|
||||
btScalar m_additionalAngularDampingThresholdSqr;
|
||||
btScalar m_additionalAngularDampingFactor;
|
||||
|
||||
|
||||
btScalar m_linearSleepingThreshold;
|
||||
btScalar m_angularSleepingThreshold;
|
||||
btScalar m_linearSleepingThreshold;
|
||||
btScalar m_angularSleepingThreshold;
|
||||
|
||||
//m_optionalMotionState allows to automatic synchronize the world transform for active objects
|
||||
btMotionState* m_optionalMotionState;
|
||||
btMotionState* m_optionalMotionState;
|
||||
|
||||
//keep track of typed constraints referencing this rigid body, to disable collision between linked bodies
|
||||
btAlignedObjectArray<btTypedConstraint*> m_constraintRefs;
|
||||
|
||||
int m_rigidbodyFlags;
|
||||
|
||||
int m_debugBodyId;
|
||||
|
||||
int m_rigidbodyFlags;
|
||||
|
||||
int m_debugBodyId;
|
||||
|
||||
protected:
|
||||
|
||||
ATTRIBUTE_ALIGNED16(btVector3 m_deltaLinearVelocity);
|
||||
btVector3 m_deltaAngularVelocity;
|
||||
btVector3 m_angularFactor;
|
||||
btVector3 m_invMass;
|
||||
btVector3 m_pushVelocity;
|
||||
btVector3 m_turnVelocity;
|
||||
|
||||
ATTRIBUTE_ALIGNED16(btVector3 m_deltaLinearVelocity);
|
||||
btVector3 m_deltaAngularVelocity;
|
||||
btVector3 m_angularFactor;
|
||||
btVector3 m_invMass;
|
||||
btVector3 m_pushVelocity;
|
||||
btVector3 m_turnVelocity;
|
||||
|
||||
public:
|
||||
|
||||
|
||||
///The btRigidBodyConstructionInfo structure provides information to create a rigid body. Setting mass to zero creates a fixed (non-dynamic) rigid body.
|
||||
///For dynamic objects, you can use the collision shape to approximate the local inertia tensor, otherwise use the zero vector (default argument)
|
||||
///You can use the motion state to synchronize the world transform between physics and graphics objects.
|
||||
///You can use the motion state to synchronize the world transform between physics and graphics objects.
|
||||
///And if the motion state is provided, the rigid body will initialize its initial world transform from the motion state,
|
||||
///m_startWorldTransform is only used when you don't provide a motion state.
|
||||
struct btRigidBodyConstructionInfo
|
||||
struct btRigidBodyConstructionInfo
|
||||
{
|
||||
btScalar m_mass;
|
||||
btScalar m_mass;
|
||||
|
||||
///When a motionState is provided, the rigid body will initialize its world transform from the motion state
|
||||
///In this case, m_startWorldTransform is ignored.
|
||||
btMotionState* m_motionState;
|
||||
btTransform m_startWorldTransform;
|
||||
btMotionState* m_motionState;
|
||||
btTransform m_startWorldTransform;
|
||||
|
||||
btCollisionShape* m_collisionShape;
|
||||
btVector3 m_localInertia;
|
||||
btScalar m_linearDamping;
|
||||
btScalar m_angularDamping;
|
||||
btCollisionShape* m_collisionShape;
|
||||
btVector3 m_localInertia;
|
||||
btScalar m_linearDamping;
|
||||
btScalar m_angularDamping;
|
||||
|
||||
///best simulation results when friction is non-zero
|
||||
btScalar m_friction;
|
||||
btScalar m_friction;
|
||||
///the m_rollingFriction prevents rounded shapes, such as spheres, cylinders and capsules from rolling forever.
|
||||
///See Bullet/Demos/RollingFrictionDemo for usage
|
||||
btScalar m_rollingFriction;
|
||||
btScalar m_spinningFriction;//torsional friction around contact normal
|
||||
|
||||
///best simulation results using zero restitution.
|
||||
btScalar m_restitution;
|
||||
btScalar m_rollingFriction;
|
||||
btScalar m_spinningFriction; //torsional friction around contact normal
|
||||
|
||||
btScalar m_linearSleepingThreshold;
|
||||
btScalar m_angularSleepingThreshold;
|
||||
///best simulation results using zero restitution.
|
||||
btScalar m_restitution;
|
||||
|
||||
btScalar m_linearSleepingThreshold;
|
||||
btScalar m_angularSleepingThreshold;
|
||||
|
||||
//Additional damping can help avoiding lowpass jitter motion, help stability for ragdolls etc.
|
||||
//Such damping is undesirable, so once the overall simulation quality of the rigid body dynamics system has improved, this should become obsolete
|
||||
bool m_additionalDamping;
|
||||
btScalar m_additionalDampingFactor;
|
||||
btScalar m_additionalLinearDampingThresholdSqr;
|
||||
btScalar m_additionalAngularDampingThresholdSqr;
|
||||
btScalar m_additionalAngularDampingFactor;
|
||||
bool m_additionalDamping;
|
||||
btScalar m_additionalDampingFactor;
|
||||
btScalar m_additionalLinearDampingThresholdSqr;
|
||||
btScalar m_additionalAngularDampingThresholdSqr;
|
||||
btScalar m_additionalAngularDampingFactor;
|
||||
|
||||
btRigidBodyConstructionInfo( btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0)):
|
||||
m_mass(mass),
|
||||
m_motionState(motionState),
|
||||
m_collisionShape(collisionShape),
|
||||
m_localInertia(localInertia),
|
||||
m_linearDamping(btScalar(0.)),
|
||||
m_angularDamping(btScalar(0.)),
|
||||
m_friction(btScalar(0.5)),
|
||||
m_rollingFriction(btScalar(0)),
|
||||
m_spinningFriction(btScalar(0)),
|
||||
m_restitution(btScalar(0.)),
|
||||
m_linearSleepingThreshold(btScalar(0.8)),
|
||||
m_angularSleepingThreshold(btScalar(1.f)),
|
||||
m_additionalDamping(false),
|
||||
m_additionalDampingFactor(btScalar(0.005)),
|
||||
m_additionalLinearDampingThresholdSqr(btScalar(0.01)),
|
||||
m_additionalAngularDampingThresholdSqr(btScalar(0.01)),
|
||||
m_additionalAngularDampingFactor(btScalar(0.01))
|
||||
btRigidBodyConstructionInfo(btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia = btVector3(0, 0, 0)) : m_mass(mass),
|
||||
m_motionState(motionState),
|
||||
m_collisionShape(collisionShape),
|
||||
m_localInertia(localInertia),
|
||||
m_linearDamping(btScalar(0.)),
|
||||
m_angularDamping(btScalar(0.)),
|
||||
m_friction(btScalar(0.5)),
|
||||
m_rollingFriction(btScalar(0)),
|
||||
m_spinningFriction(btScalar(0)),
|
||||
m_restitution(btScalar(0.)),
|
||||
m_linearSleepingThreshold(btScalar(0.8)),
|
||||
m_angularSleepingThreshold(btScalar(1.f)),
|
||||
m_additionalDamping(false),
|
||||
m_additionalDampingFactor(btScalar(0.005)),
|
||||
m_additionalLinearDampingThresholdSqr(btScalar(0.01)),
|
||||
m_additionalAngularDampingThresholdSqr(btScalar(0.01)),
|
||||
m_additionalAngularDampingFactor(btScalar(0.01))
|
||||
{
|
||||
m_startWorldTransform.setIdentity();
|
||||
}
|
||||
};
|
||||
|
||||
///btRigidBody constructor using construction info
|
||||
btRigidBody( const btRigidBodyConstructionInfo& constructionInfo);
|
||||
btRigidBody(const btRigidBodyConstructionInfo& constructionInfo);
|
||||
|
||||
///btRigidBody constructor for backwards compatibility.
|
||||
///btRigidBody constructor for backwards compatibility.
|
||||
///To specify friction (etc) during rigid body construction, please use the other constructor (using btRigidBodyConstructionInfo)
|
||||
btRigidBody( btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0));
|
||||
|
||||
btRigidBody(btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia = btVector3(0, 0, 0));
|
||||
|
||||
virtual ~btRigidBody()
|
||||
{
|
||||
//No constraints should point to this rigidbody
|
||||
//Remove constraints from the dynamics world before you delete the related rigidbodies.
|
||||
btAssert(m_constraintRefs.size()==0);
|
||||
}
|
||||
{
|
||||
//No constraints should point to this rigidbody
|
||||
//Remove constraints from the dynamics world before you delete the related rigidbodies.
|
||||
btAssert(m_constraintRefs.size() == 0);
|
||||
}
|
||||
|
||||
protected:
|
||||
|
||||
///setupRigidBody is only used internally by the constructor
|
||||
void setupRigidBody(const btRigidBodyConstructionInfo& constructionInfo);
|
||||
void setupRigidBody(const btRigidBodyConstructionInfo& constructionInfo);
|
||||
|
||||
public:
|
||||
void proceedToTransform(const btTransform& newTrans);
|
||||
|
||||
void proceedToTransform(const btTransform& newTrans);
|
||||
|
||||
///to keep collision detection and dynamics separate we don't store a rigidbody pointer
|
||||
///but a rigidbody is derived from btCollisionObject, so we can safely perform an upcast
|
||||
static const btRigidBody* upcast(const btCollisionObject* colObj)
|
||||
static const btRigidBody* upcast(const btCollisionObject* colObj)
|
||||
{
|
||||
if (colObj->getInternalType()&btCollisionObject::CO_RIGID_BODY)
|
||||
if (colObj->getInternalType() & btCollisionObject::CO_RIGID_BODY)
|
||||
return (const btRigidBody*)colObj;
|
||||
return 0;
|
||||
}
|
||||
static btRigidBody* upcast(btCollisionObject* colObj)
|
||||
static btRigidBody* upcast(btCollisionObject* colObj)
|
||||
{
|
||||
if (colObj->getInternalType()&btCollisionObject::CO_RIGID_BODY)
|
||||
if (colObj->getInternalType() & btCollisionObject::CO_RIGID_BODY)
|
||||
return (btRigidBody*)colObj;
|
||||
return 0;
|
||||
}
|
||||
|
||||
/// continuous collision detection needs prediction
|
||||
void predictIntegratedTransform(btScalar step, btTransform& predictedTransform) ;
|
||||
|
||||
void saveKinematicState(btScalar step);
|
||||
|
||||
void applyGravity();
|
||||
|
||||
void setGravity(const btVector3& acceleration);
|
||||
|
||||
const btVector3& getGravity() const
|
||||
/// continuous collision detection needs prediction
|
||||
void predictIntegratedTransform(btScalar step, btTransform& predictedTransform);
|
||||
|
||||
void saveKinematicState(btScalar step);
|
||||
|
||||
void applyGravity();
|
||||
|
||||
void setGravity(const btVector3& acceleration);
|
||||
|
||||
const btVector3& getGravity() const
|
||||
{
|
||||
return m_gravity_acceleration;
|
||||
}
|
||||
|
||||
void setDamping(btScalar lin_damping, btScalar ang_damping);
|
||||
void setDamping(btScalar lin_damping, btScalar ang_damping);
|
||||
|
||||
btScalar getLinearDamping() const
|
||||
{
|
||||
@@ -249,18 +235,20 @@ public:
|
||||
return m_angularSleepingThreshold;
|
||||
}
|
||||
|
||||
void applyDamping(btScalar timeStep);
|
||||
void applyDamping(btScalar timeStep);
|
||||
|
||||
SIMD_FORCE_INLINE const btCollisionShape* getCollisionShape() const {
|
||||
SIMD_FORCE_INLINE const btCollisionShape* getCollisionShape() const
|
||||
{
|
||||
return m_collisionShape;
|
||||
}
|
||||
|
||||
SIMD_FORCE_INLINE btCollisionShape* getCollisionShape() {
|
||||
return m_collisionShape;
|
||||
SIMD_FORCE_INLINE btCollisionShape* getCollisionShape()
|
||||
{
|
||||
return m_collisionShape;
|
||||
}
|
||||
|
||||
void setMassProps(btScalar mass, const btVector3& inertia);
|
||||
|
||||
|
||||
void setMassProps(btScalar mass, const btVector3& inertia);
|
||||
|
||||
const btVector3& getLinearFactor() const
|
||||
{
|
||||
return m_linearFactor;
|
||||
@@ -268,20 +256,21 @@ public:
|
||||
void setLinearFactor(const btVector3& linearFactor)
|
||||
{
|
||||
m_linearFactor = linearFactor;
|
||||
m_invMass = m_linearFactor*m_inverseMass;
|
||||
m_invMass = m_linearFactor * m_inverseMass;
|
||||
}
|
||||
btScalar getInvMass() const { return m_inverseMass; }
|
||||
const btMatrix3x3& getInvInertiaTensorWorld() const {
|
||||
return m_invInertiaTensorWorld;
|
||||
}
|
||||
|
||||
void integrateVelocities(btScalar step);
|
||||
|
||||
void setCenterOfMassTransform(const btTransform& xform);
|
||||
|
||||
void applyCentralForce(const btVector3& force)
|
||||
btScalar getInvMass() const { return m_inverseMass; }
|
||||
const btMatrix3x3& getInvInertiaTensorWorld() const
|
||||
{
|
||||
m_totalForce += force*m_linearFactor;
|
||||
return m_invInertiaTensorWorld;
|
||||
}
|
||||
|
||||
void integrateVelocities(btScalar step);
|
||||
|
||||
void setCenterOfMassTransform(const btTransform& xform);
|
||||
|
||||
void applyCentralForce(const btVector3& force)
|
||||
{
|
||||
m_totalForce += force * m_linearFactor;
|
||||
}
|
||||
|
||||
const btVector3& getTotalForce() const
|
||||
@@ -293,90 +282,93 @@ public:
|
||||
{
|
||||
return m_totalTorque;
|
||||
};
|
||||
|
||||
|
||||
const btVector3& getInvInertiaDiagLocal() const
|
||||
{
|
||||
return m_invInertiaLocal;
|
||||
};
|
||||
|
||||
void setInvInertiaDiagLocal(const btVector3& diagInvInertia)
|
||||
void setInvInertiaDiagLocal(const btVector3& diagInvInertia)
|
||||
{
|
||||
m_invInertiaLocal = diagInvInertia;
|
||||
}
|
||||
|
||||
void setSleepingThresholds(btScalar linear,btScalar angular)
|
||||
void setSleepingThresholds(btScalar linear, btScalar angular)
|
||||
{
|
||||
m_linearSleepingThreshold = linear;
|
||||
m_angularSleepingThreshold = angular;
|
||||
}
|
||||
|
||||
void applyTorque(const btVector3& torque)
|
||||
void applyTorque(const btVector3& torque)
|
||||
{
|
||||
m_totalTorque += torque*m_angularFactor;
|
||||
m_totalTorque += torque * m_angularFactor;
|
||||
}
|
||||
|
||||
void applyForce(const btVector3& force, const btVector3& rel_pos)
|
||||
|
||||
void applyForce(const btVector3& force, const btVector3& rel_pos)
|
||||
{
|
||||
applyCentralForce(force);
|
||||
applyTorque(rel_pos.cross(force*m_linearFactor));
|
||||
applyTorque(rel_pos.cross(force * m_linearFactor));
|
||||
}
|
||||
|
||||
|
||||
void applyCentralImpulse(const btVector3& impulse)
|
||||
{
|
||||
m_linearVelocity += impulse *m_linearFactor * m_inverseMass;
|
||||
m_linearVelocity += impulse * m_linearFactor * m_inverseMass;
|
||||
}
|
||||
|
||||
void applyTorqueImpulse(const btVector3& torque)
|
||||
|
||||
void applyTorqueImpulse(const btVector3& torque)
|
||||
{
|
||||
m_angularVelocity += m_invInertiaTensorWorld * torque * m_angularFactor;
|
||||
m_angularVelocity += m_invInertiaTensorWorld * torque * m_angularFactor;
|
||||
}
|
||||
|
||||
void applyImpulse(const btVector3& impulse, const btVector3& rel_pos)
|
||||
|
||||
void applyImpulse(const btVector3& impulse, const btVector3& rel_pos)
|
||||
{
|
||||
if (m_inverseMass != btScalar(0.))
|
||||
{
|
||||
applyCentralImpulse(impulse);
|
||||
if (m_angularFactor)
|
||||
{
|
||||
applyTorqueImpulse(rel_pos.cross(impulse*m_linearFactor));
|
||||
applyTorqueImpulse(rel_pos.cross(impulse * m_linearFactor));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void clearForces()
|
||||
void clearForces()
|
||||
{
|
||||
m_totalForce.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
|
||||
m_totalTorque.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
|
||||
}
|
||||
|
||||
void updateInertiaTensor();
|
||||
|
||||
const btVector3& getCenterOfMassPosition() const {
|
||||
return m_worldTransform.getOrigin();
|
||||
|
||||
void updateInertiaTensor();
|
||||
|
||||
const btVector3& getCenterOfMassPosition() const
|
||||
{
|
||||
return m_worldTransform.getOrigin();
|
||||
}
|
||||
btQuaternion getOrientation() const;
|
||||
|
||||
const btTransform& getCenterOfMassTransform() const {
|
||||
return m_worldTransform;
|
||||
|
||||
const btTransform& getCenterOfMassTransform() const
|
||||
{
|
||||
return m_worldTransform;
|
||||
}
|
||||
const btVector3& getLinearVelocity() const {
|
||||
return m_linearVelocity;
|
||||
const btVector3& getLinearVelocity() const
|
||||
{
|
||||
return m_linearVelocity;
|
||||
}
|
||||
const btVector3& getAngularVelocity() const {
|
||||
return m_angularVelocity;
|
||||
const btVector3& getAngularVelocity() const
|
||||
{
|
||||
return m_angularVelocity;
|
||||
}
|
||||
|
||||
|
||||
inline void setLinearVelocity(const btVector3& lin_vel)
|
||||
{
|
||||
{
|
||||
m_updateRevision++;
|
||||
m_linearVelocity = lin_vel;
|
||||
m_linearVelocity = lin_vel;
|
||||
}
|
||||
|
||||
inline void setAngularVelocity(const btVector3& ang_vel)
|
||||
{
|
||||
inline void setAngularVelocity(const btVector3& ang_vel)
|
||||
{
|
||||
m_updateRevision++;
|
||||
m_angularVelocity = ang_vel;
|
||||
m_angularVelocity = ang_vel;
|
||||
}
|
||||
|
||||
btVector3 getVelocityInLocalPoint(const btVector3& rel_pos) const
|
||||
@@ -388,18 +380,13 @@ public:
|
||||
// return (m_worldTransform(rel_pos) - m_interpolationWorldTransform(rel_pos)) / m_kinematicTimeStep;
|
||||
}
|
||||
|
||||
void translate(const btVector3& v)
|
||||
void translate(const btVector3& v)
|
||||
{
|
||||
m_worldTransform.getOrigin() += v;
|
||||
m_worldTransform.getOrigin() += v;
|
||||
}
|
||||
|
||||
|
||||
void getAabb(btVector3& aabbMin,btVector3& aabbMax) const;
|
||||
void getAabb(btVector3& aabbMin, btVector3& aabbMax) const;
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
SIMD_FORCE_INLINE btScalar computeImpulseDenominator(const btVector3& pos, const btVector3& normal) const
|
||||
{
|
||||
btVector3 r0 = pos - getCenterOfMassPosition();
|
||||
@@ -409,7 +396,6 @@ public:
|
||||
btVector3 vec = (c0 * getInvInertiaTensorWorld()).cross(r0);
|
||||
|
||||
return m_inverseMass + normal.dot(vec);
|
||||
|
||||
}
|
||||
|
||||
SIMD_FORCE_INLINE btScalar computeAngularImpulseDenominator(const btVector3& axis) const
|
||||
@@ -418,26 +404,25 @@ public:
|
||||
return axis.dot(vec);
|
||||
}
|
||||
|
||||
SIMD_FORCE_INLINE void updateDeactivation(btScalar timeStep)
|
||||
SIMD_FORCE_INLINE void updateDeactivation(btScalar timeStep)
|
||||
{
|
||||
if ( (getActivationState() == ISLAND_SLEEPING) || (getActivationState() == DISABLE_DEACTIVATION))
|
||||
if ((getActivationState() == ISLAND_SLEEPING) || (getActivationState() == DISABLE_DEACTIVATION))
|
||||
return;
|
||||
|
||||
if ((getLinearVelocity().length2() < m_linearSleepingThreshold*m_linearSleepingThreshold) &&
|
||||
(getAngularVelocity().length2() < m_angularSleepingThreshold*m_angularSleepingThreshold))
|
||||
if ((getLinearVelocity().length2() < m_linearSleepingThreshold * m_linearSleepingThreshold) &&
|
||||
(getAngularVelocity().length2() < m_angularSleepingThreshold * m_angularSleepingThreshold))
|
||||
{
|
||||
m_deactivationTime += timeStep;
|
||||
} else
|
||||
}
|
||||
else
|
||||
{
|
||||
m_deactivationTime=btScalar(0.);
|
||||
m_deactivationTime = btScalar(0.);
|
||||
setActivationState(0);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
SIMD_FORCE_INLINE bool wantsSleeping()
|
||||
SIMD_FORCE_INLINE bool wantsSleeping()
|
||||
{
|
||||
|
||||
if (getActivationState() == DISABLE_DEACTIVATION)
|
||||
return false;
|
||||
|
||||
@@ -445,41 +430,39 @@ public:
|
||||
if (gDisableDeactivation || (gDeactivationTime == btScalar(0.)))
|
||||
return false;
|
||||
|
||||
if ( (getActivationState() == ISLAND_SLEEPING) || (getActivationState() == WANTS_DEACTIVATION))
|
||||
if ((getActivationState() == ISLAND_SLEEPING) || (getActivationState() == WANTS_DEACTIVATION))
|
||||
return true;
|
||||
|
||||
if (m_deactivationTime> gDeactivationTime)
|
||||
if (m_deactivationTime > gDeactivationTime)
|
||||
{
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
|
||||
const btBroadphaseProxy* getBroadphaseProxy() const
|
||||
const btBroadphaseProxy* getBroadphaseProxy() const
|
||||
{
|
||||
return m_broadphaseHandle;
|
||||
}
|
||||
btBroadphaseProxy* getBroadphaseProxy()
|
||||
btBroadphaseProxy* getBroadphaseProxy()
|
||||
{
|
||||
return m_broadphaseHandle;
|
||||
}
|
||||
void setNewBroadphaseProxy(btBroadphaseProxy* broadphaseProxy)
|
||||
void setNewBroadphaseProxy(btBroadphaseProxy* broadphaseProxy)
|
||||
{
|
||||
m_broadphaseHandle = broadphaseProxy;
|
||||
}
|
||||
|
||||
//btMotionState allows to automatic synchronize the world transform for active objects
|
||||
btMotionState* getMotionState()
|
||||
btMotionState* getMotionState()
|
||||
{
|
||||
return m_optionalMotionState;
|
||||
}
|
||||
const btMotionState* getMotionState() const
|
||||
const btMotionState* getMotionState() const
|
||||
{
|
||||
return m_optionalMotionState;
|
||||
}
|
||||
void setMotionState(btMotionState* motionState)
|
||||
void setMotionState(btMotionState* motionState)
|
||||
{
|
||||
m_optionalMotionState = motionState;
|
||||
if (m_optionalMotionState)
|
||||
@@ -487,27 +470,27 @@ public:
|
||||
}
|
||||
|
||||
//for experimental overriding of friction/contact solver func
|
||||
int m_contactSolverType;
|
||||
int m_frictionSolverType;
|
||||
int m_contactSolverType;
|
||||
int m_frictionSolverType;
|
||||
|
||||
void setAngularFactor(const btVector3& angFac)
|
||||
void setAngularFactor(const btVector3& angFac)
|
||||
{
|
||||
m_updateRevision++;
|
||||
m_angularFactor = angFac;
|
||||
}
|
||||
|
||||
void setAngularFactor(btScalar angFac)
|
||||
void setAngularFactor(btScalar angFac)
|
||||
{
|
||||
m_updateRevision++;
|
||||
m_angularFactor.setValue(angFac,angFac,angFac);
|
||||
m_angularFactor.setValue(angFac, angFac, angFac);
|
||||
}
|
||||
const btVector3& getAngularFactor() const
|
||||
const btVector3& getAngularFactor() const
|
||||
{
|
||||
return m_angularFactor;
|
||||
}
|
||||
|
||||
//is this rigidbody added to a btCollisionWorld/btDynamicsWorld/btBroadphase?
|
||||
bool isInWorld() const
|
||||
bool isInWorld() const
|
||||
{
|
||||
return (getBroadphaseProxy() != 0);
|
||||
}
|
||||
@@ -525,7 +508,7 @@ public:
|
||||
return m_constraintRefs.size();
|
||||
}
|
||||
|
||||
void setFlags(int flags)
|
||||
void setFlags(int flags)
|
||||
{
|
||||
m_rigidbodyFlags = flags;
|
||||
}
|
||||
@@ -535,12 +518,9 @@ public:
|
||||
return m_rigidbodyFlags;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
///perform implicit force computation in world space
|
||||
btVector3 computeGyroscopicImpulseImplicit_World(btScalar dt) const;
|
||||
|
||||
|
||||
///perform implicit force computation in body space (inertial frame)
|
||||
btVector3 computeGyroscopicImpulseImplicit_Body(btScalar step) const;
|
||||
|
||||
@@ -550,70 +530,66 @@ public:
|
||||
|
||||
///////////////////////////////////////////////
|
||||
|
||||
virtual int calculateSerializeBufferSize() const;
|
||||
virtual int calculateSerializeBufferSize() const;
|
||||
|
||||
///fills the dataBuffer and returns the struct name (and 0 on failure)
|
||||
virtual const char* serialize(void* dataBuffer, class btSerializer* serializer) const;
|
||||
virtual const char* serialize(void* dataBuffer, class btSerializer* serializer) const;
|
||||
|
||||
virtual void serializeSingleObject(class btSerializer* serializer) const;
|
||||
|
||||
};
|
||||
|
||||
//@todo add m_optionalMotionState and m_constraintRefs to btRigidBodyData
|
||||
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
|
||||
struct btRigidBodyFloatData
|
||||
struct btRigidBodyFloatData
|
||||
{
|
||||
btCollisionObjectFloatData m_collisionObjectData;
|
||||
btMatrix3x3FloatData m_invInertiaTensorWorld;
|
||||
btVector3FloatData m_linearVelocity;
|
||||
btVector3FloatData m_angularVelocity;
|
||||
btVector3FloatData m_angularFactor;
|
||||
btVector3FloatData m_linearFactor;
|
||||
btVector3FloatData m_gravity;
|
||||
btVector3FloatData m_gravity_acceleration;
|
||||
btVector3FloatData m_invInertiaLocal;
|
||||
btVector3FloatData m_totalForce;
|
||||
btVector3FloatData m_totalTorque;
|
||||
float m_inverseMass;
|
||||
float m_linearDamping;
|
||||
float m_angularDamping;
|
||||
float m_additionalDampingFactor;
|
||||
float m_additionalLinearDampingThresholdSqr;
|
||||
float m_additionalAngularDampingThresholdSqr;
|
||||
float m_additionalAngularDampingFactor;
|
||||
float m_linearSleepingThreshold;
|
||||
float m_angularSleepingThreshold;
|
||||
int m_additionalDamping;
|
||||
btCollisionObjectFloatData m_collisionObjectData;
|
||||
btMatrix3x3FloatData m_invInertiaTensorWorld;
|
||||
btVector3FloatData m_linearVelocity;
|
||||
btVector3FloatData m_angularVelocity;
|
||||
btVector3FloatData m_angularFactor;
|
||||
btVector3FloatData m_linearFactor;
|
||||
btVector3FloatData m_gravity;
|
||||
btVector3FloatData m_gravity_acceleration;
|
||||
btVector3FloatData m_invInertiaLocal;
|
||||
btVector3FloatData m_totalForce;
|
||||
btVector3FloatData m_totalTorque;
|
||||
float m_inverseMass;
|
||||
float m_linearDamping;
|
||||
float m_angularDamping;
|
||||
float m_additionalDampingFactor;
|
||||
float m_additionalLinearDampingThresholdSqr;
|
||||
float m_additionalAngularDampingThresholdSqr;
|
||||
float m_additionalAngularDampingFactor;
|
||||
float m_linearSleepingThreshold;
|
||||
float m_angularSleepingThreshold;
|
||||
int m_additionalDamping;
|
||||
};
|
||||
|
||||
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
|
||||
struct btRigidBodyDoubleData
|
||||
struct btRigidBodyDoubleData
|
||||
{
|
||||
btCollisionObjectDoubleData m_collisionObjectData;
|
||||
btMatrix3x3DoubleData m_invInertiaTensorWorld;
|
||||
btVector3DoubleData m_linearVelocity;
|
||||
btVector3DoubleData m_angularVelocity;
|
||||
btVector3DoubleData m_angularFactor;
|
||||
btVector3DoubleData m_linearFactor;
|
||||
btVector3DoubleData m_gravity;
|
||||
btVector3DoubleData m_gravity_acceleration;
|
||||
btVector3DoubleData m_invInertiaLocal;
|
||||
btVector3DoubleData m_totalForce;
|
||||
btVector3DoubleData m_totalTorque;
|
||||
double m_inverseMass;
|
||||
double m_linearDamping;
|
||||
double m_angularDamping;
|
||||
double m_additionalDampingFactor;
|
||||
double m_additionalLinearDampingThresholdSqr;
|
||||
double m_additionalAngularDampingThresholdSqr;
|
||||
double m_additionalAngularDampingFactor;
|
||||
double m_linearSleepingThreshold;
|
||||
double m_angularSleepingThreshold;
|
||||
int m_additionalDamping;
|
||||
char m_padding[4];
|
||||
btCollisionObjectDoubleData m_collisionObjectData;
|
||||
btMatrix3x3DoubleData m_invInertiaTensorWorld;
|
||||
btVector3DoubleData m_linearVelocity;
|
||||
btVector3DoubleData m_angularVelocity;
|
||||
btVector3DoubleData m_angularFactor;
|
||||
btVector3DoubleData m_linearFactor;
|
||||
btVector3DoubleData m_gravity;
|
||||
btVector3DoubleData m_gravity_acceleration;
|
||||
btVector3DoubleData m_invInertiaLocal;
|
||||
btVector3DoubleData m_totalForce;
|
||||
btVector3DoubleData m_totalTorque;
|
||||
double m_inverseMass;
|
||||
double m_linearDamping;
|
||||
double m_angularDamping;
|
||||
double m_additionalDampingFactor;
|
||||
double m_additionalLinearDampingThresholdSqr;
|
||||
double m_additionalAngularDampingThresholdSqr;
|
||||
double m_additionalAngularDampingFactor;
|
||||
double m_linearSleepingThreshold;
|
||||
double m_angularSleepingThreshold;
|
||||
int m_additionalDamping;
|
||||
char m_padding[4];
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif //BT_RIGIDBODY_H
|
||||
|
||||
#endif //BT_RIGIDBODY_H
|
||||
|
||||
@@ -21,47 +21,40 @@ subject to the following restrictions:
|
||||
#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"
|
||||
extern "C"
|
||||
{
|
||||
void btBulletDynamicsProbe ();
|
||||
void btBulletDynamicsProbe () {}
|
||||
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(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);
|
||||
btAlignedFree(m_constraintSolver);
|
||||
}
|
||||
|
||||
int btSimpleDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, btScalar fixedTimeStep)
|
||||
int btSimpleDynamicsWorld::stepSimulation(btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep)
|
||||
{
|
||||
(void)fixedTimeStep;
|
||||
(void)maxSubSteps;
|
||||
|
||||
|
||||
///apply gravity, predict motion
|
||||
predictUnconstraintMotion(timeStep);
|
||||
|
||||
btDispatcherInfo& dispatchInfo = getDispatchInfo();
|
||||
btDispatcherInfo& dispatchInfo = getDispatchInfo();
|
||||
dispatchInfo.m_timeStep = timeStep;
|
||||
dispatchInfo.m_stepCount = 0;
|
||||
dispatchInfo.m_debugDraw = getDebugDrawer();
|
||||
@@ -74,17 +67,17 @@ int btSimpleDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, b
|
||||
if (numManifolds)
|
||||
{
|
||||
btPersistentManifold** manifoldPtr = ((btCollisionDispatcher*)m_dispatcher1)->getInternalManifoldPointer();
|
||||
|
||||
|
||||
btContactSolverInfo infoGlobal;
|
||||
infoGlobal.m_timeStep = timeStep;
|
||||
m_constraintSolver->prepareSolve(0,numManifolds);
|
||||
m_constraintSolver->solveGroup(&getCollisionObjectArray()[0],getNumCollisionObjects(),manifoldPtr, numManifolds,0,0,infoGlobal,m_debugDrawer, m_dispatcher1);
|
||||
m_constraintSolver->allSolved(infoGlobal,m_debugDrawer);
|
||||
m_constraintSolver->prepareSolve(0, numManifolds);
|
||||
m_constraintSolver->solveGroup(&getCollisionObjectArray()[0], getNumCollisionObjects(), manifoldPtr, numManifolds, 0, 0, infoGlobal, m_debugDrawer, m_dispatcher1);
|
||||
m_constraintSolver->allSolved(infoGlobal, m_debugDrawer);
|
||||
}
|
||||
|
||||
///integrate transforms
|
||||
integrateTransforms(timeStep);
|
||||
|
||||
|
||||
updateAabbs();
|
||||
|
||||
synchronizeMotionStates();
|
||||
@@ -92,29 +85,27 @@ int btSimpleDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, b
|
||||
clearForces();
|
||||
|
||||
return 1;
|
||||
|
||||
}
|
||||
|
||||
void btSimpleDynamicsWorld::clearForces()
|
||||
void btSimpleDynamicsWorld::clearForces()
|
||||
{
|
||||
///@todo: iterate over awake simulation islands!
|
||||
for ( int i=0;i<m_collisionObjects.size();i++)
|
||||
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)
|
||||
{
|
||||
m_gravity = gravity;
|
||||
for ( int i=0;i<m_collisionObjects.size();i++)
|
||||
for (int i = 0; i < m_collisionObjects.size(); i++)
|
||||
{
|
||||
btCollisionObject* colObj = m_collisionObjects[i];
|
||||
btRigidBody* body = btRigidBody::upcast(colObj);
|
||||
@@ -125,17 +116,17 @@ void btSimpleDynamicsWorld::setGravity(const btVector3& gravity)
|
||||
}
|
||||
}
|
||||
|
||||
btVector3 btSimpleDynamicsWorld::getGravity () const
|
||||
btVector3 btSimpleDynamicsWorld::getGravity() const
|
||||
{
|
||||
return m_gravity;
|
||||
}
|
||||
|
||||
void btSimpleDynamicsWorld::removeRigidBody(btRigidBody* body)
|
||||
void btSimpleDynamicsWorld::removeRigidBody(btRigidBody* body)
|
||||
{
|
||||
btCollisionWorld::removeCollisionObject(body);
|
||||
}
|
||||
|
||||
void btSimpleDynamicsWorld::removeCollisionObject(btCollisionObject* collisionObject)
|
||||
void btSimpleDynamicsWorld::removeCollisionObject(btCollisionObject* collisionObject)
|
||||
{
|
||||
btRigidBody* body = btRigidBody::upcast(collisionObject);
|
||||
if (body)
|
||||
@@ -144,8 +135,7 @@ void btSimpleDynamicsWorld::removeCollisionObject(btCollisionObject* collisionOb
|
||||
btCollisionWorld::removeCollisionObject(collisionObject);
|
||||
}
|
||||
|
||||
|
||||
void btSimpleDynamicsWorld::addRigidBody(btRigidBody* body)
|
||||
void btSimpleDynamicsWorld::addRigidBody(btRigidBody* body)
|
||||
{
|
||||
body->setGravity(m_gravity);
|
||||
|
||||
@@ -155,37 +145,32 @@ void btSimpleDynamicsWorld::addRigidBody(btRigidBody* body)
|
||||
}
|
||||
}
|
||||
|
||||
void btSimpleDynamicsWorld::addRigidBody(btRigidBody* body, int group, int mask)
|
||||
void btSimpleDynamicsWorld::addRigidBody(btRigidBody* body, int group, int mask)
|
||||
{
|
||||
body->setGravity(m_gravity);
|
||||
|
||||
if (body->getCollisionShape())
|
||||
{
|
||||
addCollisionObject(body,group,mask);
|
||||
addCollisionObject(body, group, mask);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void btSimpleDynamicsWorld::debugDrawWorld()
|
||||
void btSimpleDynamicsWorld::debugDrawWorld()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
void btSimpleDynamicsWorld::addAction(btActionInterface* action)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
void btSimpleDynamicsWorld::removeAction(btActionInterface* action)
|
||||
void btSimpleDynamicsWorld::addAction(btActionInterface* action)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
void btSimpleDynamicsWorld::removeAction(btActionInterface* action)
|
||||
{
|
||||
}
|
||||
|
||||
void btSimpleDynamicsWorld::updateAabbs()
|
||||
void btSimpleDynamicsWorld::updateAabbs()
|
||||
{
|
||||
btTransform predictedTrans;
|
||||
for ( int i=0;i<m_collisionObjects.size();i++)
|
||||
for (int i = 0; i < m_collisionObjects.size(); i++)
|
||||
{
|
||||
btCollisionObject* colObj = m_collisionObjects[i];
|
||||
btRigidBody* body = btRigidBody::upcast(colObj);
|
||||
@@ -193,19 +178,19 @@ void btSimpleDynamicsWorld::updateAabbs()
|
||||
{
|
||||
if (body->isActive() && (!body->isStaticObject()))
|
||||
{
|
||||
btVector3 minAabb,maxAabb;
|
||||
colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
|
||||
btVector3 minAabb, maxAabb;
|
||||
colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb, maxAabb);
|
||||
btBroadphaseInterface* bp = getBroadphase();
|
||||
bp->setAabb(body->getBroadphaseHandle(),minAabb,maxAabb, m_dispatcher1);
|
||||
bp->setAabb(body->getBroadphaseHandle(), minAabb, maxAabb, m_dispatcher1);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void btSimpleDynamicsWorld::integrateTransforms(btScalar timeStep)
|
||||
void btSimpleDynamicsWorld::integrateTransforms(btScalar timeStep)
|
||||
{
|
||||
btTransform predictedTrans;
|
||||
for ( int i=0;i<m_collisionObjects.size();i++)
|
||||
for (int i = 0; i < m_collisionObjects.size(); i++)
|
||||
{
|
||||
btCollisionObject* colObj = m_collisionObjects[i];
|
||||
btRigidBody* body = btRigidBody::upcast(colObj);
|
||||
@@ -214,17 +199,15 @@ void btSimpleDynamicsWorld::integrateTransforms(btScalar timeStep)
|
||||
if (body->isActive() && (!body->isStaticObject()))
|
||||
{
|
||||
body->predictIntegratedTransform(timeStep, predictedTrans);
|
||||
body->proceedToTransform( predictedTrans);
|
||||
body->proceedToTransform(predictedTrans);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
void btSimpleDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
|
||||
void btSimpleDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
|
||||
{
|
||||
for ( int i=0;i<m_collisionObjects.size();i++)
|
||||
for (int i = 0; i < m_collisionObjects.size(); i++)
|
||||
{
|
||||
btCollisionObject* colObj = m_collisionObjects[i];
|
||||
btRigidBody* body = btRigidBody::upcast(colObj);
|
||||
@@ -235,20 +218,19 @@ void btSimpleDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
|
||||
if (body->isActive())
|
||||
{
|
||||
body->applyGravity();
|
||||
body->integrateVelocities( timeStep);
|
||||
body->integrateVelocities(timeStep);
|
||||
body->applyDamping(timeStep);
|
||||
body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform());
|
||||
body->predictIntegratedTransform(timeStep, body->getInterpolationWorldTransform());
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void btSimpleDynamicsWorld::synchronizeMotionStates()
|
||||
void btSimpleDynamicsWorld::synchronizeMotionStates()
|
||||
{
|
||||
///@todo: iterate over awake simulation islands!
|
||||
for ( int i=0;i<m_collisionObjects.size();i++)
|
||||
for (int i = 0; i < m_collisionObjects.size(); i++)
|
||||
{
|
||||
btCollisionObject* colObj = m_collisionObjects[i];
|
||||
btRigidBody* body = btRigidBody::upcast(colObj);
|
||||
@@ -260,11 +242,9 @@ void btSimpleDynamicsWorld::synchronizeMotionStates()
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
void btSimpleDynamicsWorld::setConstraintSolver(btConstraintSolver* solver)
|
||||
void btSimpleDynamicsWorld::setConstraintSolver(btConstraintSolver* solver)
|
||||
{
|
||||
if (m_ownsConstraintSolver)
|
||||
{
|
||||
|
||||
@@ -27,63 +27,58 @@ class btConstraintSolver;
|
||||
class btSimpleDynamicsWorld : public btDynamicsWorld
|
||||
{
|
||||
protected:
|
||||
btConstraintSolver* m_constraintSolver;
|
||||
|
||||
btConstraintSolver* m_constraintSolver;
|
||||
bool m_ownsConstraintSolver;
|
||||
|
||||
bool m_ownsConstraintSolver;
|
||||
void predictUnconstraintMotion(btScalar timeStep);
|
||||
|
||||
void integrateTransforms(btScalar timeStep);
|
||||
|
||||
btVector3 m_gravity;
|
||||
|
||||
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,btCollisionConfiguration* collisionConfiguration);
|
||||
btSimpleDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration);
|
||||
|
||||
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 int stepSimulation(btScalar timeStep, int maxSubSteps = 1, btScalar fixedTimeStep = btScalar(1.) / btScalar(60.));
|
||||
|
||||
virtual void setGravity(const btVector3& gravity);
|
||||
virtual void setGravity(const btVector3& gravity);
|
||||
|
||||
virtual btVector3 getGravity () const;
|
||||
virtual btVector3 getGravity() const;
|
||||
|
||||
virtual void addRigidBody(btRigidBody* body);
|
||||
virtual void addRigidBody(btRigidBody* body);
|
||||
|
||||
virtual void addRigidBody(btRigidBody* body, int group, int mask);
|
||||
virtual void addRigidBody(btRigidBody* body, int group, int mask);
|
||||
|
||||
virtual void removeRigidBody(btRigidBody* body);
|
||||
virtual void removeRigidBody(btRigidBody* body);
|
||||
|
||||
virtual void debugDrawWorld();
|
||||
|
||||
virtual void addAction(btActionInterface* action);
|
||||
virtual void debugDrawWorld();
|
||||
|
||||
virtual void removeAction(btActionInterface* action);
|
||||
virtual void addAction(btActionInterface* action);
|
||||
|
||||
virtual void removeAction(btActionInterface* action);
|
||||
|
||||
///removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btCollisionWorld::removeCollisionObject
|
||||
virtual void removeCollisionObject(btCollisionObject* collisionObject);
|
||||
|
||||
virtual void updateAabbs();
|
||||
virtual void removeCollisionObject(btCollisionObject* collisionObject);
|
||||
|
||||
virtual void synchronizeMotionStates();
|
||||
virtual void updateAabbs();
|
||||
|
||||
virtual void setConstraintSolver(btConstraintSolver* solver);
|
||||
virtual void synchronizeMotionStates();
|
||||
|
||||
virtual void setConstraintSolver(btConstraintSolver* solver);
|
||||
|
||||
virtual btConstraintSolver* getConstraintSolver();
|
||||
|
||||
virtual btDynamicsWorldType getWorldType() const
|
||||
virtual btDynamicsWorldType getWorldType() const
|
||||
{
|
||||
return BT_SIMPLE_DYNAMICS_WORLD;
|
||||
}
|
||||
|
||||
virtual void clearForces();
|
||||
|
||||
virtual void clearForces();
|
||||
};
|
||||
|
||||
#endif //BT_SIMPLE_DYNAMICS_WORLD_H
|
||||
#endif //BT_SIMPLE_DYNAMICS_WORLD_H
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -35,80 +35,78 @@ class btIDebugDraw;
|
||||
class btSimulationIslandManagerMt : public btSimulationIslandManager
|
||||
{
|
||||
public:
|
||||
struct Island
|
||||
{
|
||||
// a simulation island consisting of bodies, manifolds and constraints,
|
||||
// to be passed into a constraint solver.
|
||||
btAlignedObjectArray<btCollisionObject*> bodyArray;
|
||||
btAlignedObjectArray<btPersistentManifold*> manifoldArray;
|
||||
btAlignedObjectArray<btTypedConstraint*> constraintArray;
|
||||
int id; // island id
|
||||
bool isSleeping;
|
||||
struct Island
|
||||
{
|
||||
// a simulation island consisting of bodies, manifolds and constraints,
|
||||
// to be passed into a constraint solver.
|
||||
btAlignedObjectArray<btCollisionObject*> bodyArray;
|
||||
btAlignedObjectArray<btPersistentManifold*> manifoldArray;
|
||||
btAlignedObjectArray<btTypedConstraint*> constraintArray;
|
||||
int id; // island id
|
||||
bool isSleeping;
|
||||
|
||||
void append( const Island& other ); // add bodies, manifolds, constraints to my own
|
||||
};
|
||||
struct SolverParams
|
||||
{
|
||||
btConstraintSolver* m_solverPool;
|
||||
btConstraintSolver* m_solverMt;
|
||||
btContactSolverInfo* m_solverInfo;
|
||||
btIDebugDraw* m_debugDrawer;
|
||||
btDispatcher* m_dispatcher;
|
||||
};
|
||||
static void solveIsland(btConstraintSolver* solver, Island& island, const SolverParams& solverParams);
|
||||
void append(const Island& other); // add bodies, manifolds, constraints to my own
|
||||
};
|
||||
struct SolverParams
|
||||
{
|
||||
btConstraintSolver* m_solverPool;
|
||||
btConstraintSolver* m_solverMt;
|
||||
btContactSolverInfo* m_solverInfo;
|
||||
btIDebugDraw* m_debugDrawer;
|
||||
btDispatcher* m_dispatcher;
|
||||
};
|
||||
static void solveIsland(btConstraintSolver* solver, Island& island, const SolverParams& solverParams);
|
||||
|
||||
typedef void (*IslandDispatchFunc)(btAlignedObjectArray<Island*>* islands, const SolverParams& solverParams);
|
||||
static void serialIslandDispatch(btAlignedObjectArray<Island*>* islandsPtr, const SolverParams& solverParams);
|
||||
static void parallelIslandDispatch(btAlignedObjectArray<Island*>* islandsPtr, const SolverParams& solverParams);
|
||||
|
||||
typedef void( *IslandDispatchFunc ) ( btAlignedObjectArray<Island*>* islands, const SolverParams& solverParams );
|
||||
static void serialIslandDispatch( btAlignedObjectArray<Island*>* islandsPtr, const SolverParams& solverParams );
|
||||
static void parallelIslandDispatch( btAlignedObjectArray<Island*>* islandsPtr, const SolverParams& solverParams );
|
||||
protected:
|
||||
btAlignedObjectArray<Island*> m_allocatedIslands; // owner of all Islands
|
||||
btAlignedObjectArray<Island*> m_activeIslands; // islands actively in use
|
||||
btAlignedObjectArray<Island*> m_freeIslands; // islands ready to be reused
|
||||
btAlignedObjectArray<Island*> m_lookupIslandFromId; // big lookup table to map islandId to Island pointer
|
||||
Island* m_batchIsland;
|
||||
int m_minimumSolverBatchSize;
|
||||
int m_batchIslandMinBodyCount;
|
||||
IslandDispatchFunc m_islandDispatch;
|
||||
btAlignedObjectArray<Island*> m_allocatedIslands; // owner of all Islands
|
||||
btAlignedObjectArray<Island*> m_activeIslands; // islands actively in use
|
||||
btAlignedObjectArray<Island*> m_freeIslands; // islands ready to be reused
|
||||
btAlignedObjectArray<Island*> m_lookupIslandFromId; // big lookup table to map islandId to Island pointer
|
||||
Island* m_batchIsland;
|
||||
int m_minimumSolverBatchSize;
|
||||
int m_batchIslandMinBodyCount;
|
||||
IslandDispatchFunc m_islandDispatch;
|
||||
|
||||
Island* getIsland(int id);
|
||||
virtual Island* allocateIsland(int id, int numBodies);
|
||||
virtual void initIslandPools();
|
||||
virtual void addBodiesToIslands(btCollisionWorld* collisionWorld);
|
||||
virtual void addManifoldsToIslands(btDispatcher* dispatcher);
|
||||
virtual void addConstraintsToIslands(btAlignedObjectArray<btTypedConstraint*>& constraints);
|
||||
virtual void mergeIslands();
|
||||
|
||||
Island* getIsland( int id );
|
||||
virtual Island* allocateIsland( int id, int numBodies );
|
||||
virtual void initIslandPools();
|
||||
virtual void addBodiesToIslands( btCollisionWorld* collisionWorld );
|
||||
virtual void addManifoldsToIslands( btDispatcher* dispatcher );
|
||||
virtual void addConstraintsToIslands( btAlignedObjectArray<btTypedConstraint*>& constraints );
|
||||
virtual void mergeIslands();
|
||||
|
||||
public:
|
||||
btSimulationIslandManagerMt();
|
||||
virtual ~btSimulationIslandManagerMt();
|
||||
|
||||
virtual void buildAndProcessIslands( btDispatcher* dispatcher,
|
||||
btCollisionWorld* collisionWorld,
|
||||
btAlignedObjectArray<btTypedConstraint*>& constraints,
|
||||
const SolverParams& solverParams
|
||||
);
|
||||
virtual void buildAndProcessIslands(btDispatcher* dispatcher,
|
||||
btCollisionWorld* collisionWorld,
|
||||
btAlignedObjectArray<btTypedConstraint*>& constraints,
|
||||
const SolverParams& solverParams);
|
||||
|
||||
virtual void buildIslands(btDispatcher* dispatcher,btCollisionWorld* colWorld);
|
||||
virtual void buildIslands(btDispatcher* dispatcher, btCollisionWorld* colWorld);
|
||||
|
||||
int getMinimumSolverBatchSize() const
|
||||
{
|
||||
return m_minimumSolverBatchSize;
|
||||
}
|
||||
void setMinimumSolverBatchSize( int sz )
|
||||
{
|
||||
m_minimumSolverBatchSize = sz;
|
||||
}
|
||||
IslandDispatchFunc getIslandDispatchFunction() const
|
||||
{
|
||||
return m_islandDispatch;
|
||||
}
|
||||
// allow users to set their own dispatch function for multithreaded dispatch
|
||||
void setIslandDispatchFunction( IslandDispatchFunc func )
|
||||
{
|
||||
m_islandDispatch = func;
|
||||
}
|
||||
int getMinimumSolverBatchSize() const
|
||||
{
|
||||
return m_minimumSolverBatchSize;
|
||||
}
|
||||
void setMinimumSolverBatchSize(int sz)
|
||||
{
|
||||
m_minimumSolverBatchSize = sz;
|
||||
}
|
||||
IslandDispatchFunc getIslandDispatchFunction() const
|
||||
{
|
||||
return m_islandDispatch;
|
||||
}
|
||||
// allow users to set their own dispatch function for multithreaded dispatch
|
||||
void setIslandDispatchFunction(IslandDispatchFunc func)
|
||||
{
|
||||
m_islandDispatch = func;
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
#endif //BT_SIMULATION_ISLAND_MANAGER_H
|
||||
|
||||
#endif //BT_SIMULATION_ISLAND_MANAGER_H
|
||||
|
||||
Reference in New Issue
Block a user