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another large series of changes, related to the refactoring.

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CompoundShapes are tricky to manage with respect to persistent contact points and swapped order of btCollisionObjects,
During dispatch, finding an algorith etc. order can be swapped.
fixed several other issues, related to SimpleBroadphase (removing a proxy was not working)
This commit is contained in:
ejcoumans
2006-10-06 05:22:13 +00:00
parent 97b287a6bc
commit bf847b839a
54 changed files with 1852 additions and 1946 deletions
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110
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -35,6 +35,7 @@ subject to the following restrictions:
#include "BulletDynamics/Vehicle/btWheelInfo.h"
#include "LinearMath/btIDebugDraw.h"
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btMotionState.h"
@@ -44,6 +45,7 @@ btDiscreteDynamicsWorld::btDiscreteDynamicsWorld()
:btDynamicsWorld(),
m_constraintSolver(new btSequentialImpulseConstraintSolver),
m_debugDrawer(0),
m_gravity(0,-10,0),
m_profileTimings(0)
{
m_islandManager = new btSimulationIslandManager();
@@ -56,6 +58,7 @@ btDiscreteDynamicsWorld::btDiscreteDynamicsWorld(btDispatcher* dispatcher,btOver
:btDynamicsWorld(dispatcher,pairCache),
m_constraintSolver(constraintSolver? constraintSolver: new btSequentialImpulseConstraintSolver),
m_debugDrawer(0),
m_gravity(0,-10,0),
m_profileTimings(0)
{
m_islandManager = new btSimulationIslandManager();
@@ -73,7 +76,69 @@ btDiscreteDynamicsWorld::~btDiscreteDynamicsWorld()
delete m_constraintSolver;
}
void btDiscreteDynamicsWorld::stepSimulation(float timeStep)
void btDiscreteDynamicsWorld::saveKinematicState(float timeStep)
{
for (unsigned int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
btRigidBody* body = btRigidBody::upcast(colObj);
if (body)
{
btTransform predictedTrans;
if (body->GetActivationState() != ISLAND_SLEEPING)
{
if (body->isKinematicObject())
{
//to calculate velocities next frame
body->saveKinematicState(timeStep);
}
}
}
}
}
void btDiscreteDynamicsWorld::synchronizeMotionStates()
{
//todo: iterate over awake simulation islands!
for (unsigned int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
btRigidBody* body = btRigidBody::upcast(colObj);
if (body && body->getMotionState())
{
if (body->GetActivationState() != ISLAND_SLEEPING)
{
body->getMotionState()->setWorldOrientation(body->getCenterOfMassTransform().getRotation());
body->getMotionState()->setWorldPosition(body->getCenterOfMassTransform().getOrigin());
}
}
}
}
void btDiscreteDynamicsWorld::stepSimulation(float timeStep, int numSubsteps)
{
if (!btFuzzyZero(timeStep) && numSubsteps)
{
saveKinematicState(timeStep);
int i;
float subTimeStep = timeStep / float(numSubsteps);
for (i=0;i<numSubsteps;i++)
{
internalSingleStepSimulation(subTimeStep);
}
synchronizeMotionStates();
}
}
void btDiscreteDynamicsWorld::internalSingleStepSimulation(float timeStep)
{
startProfiling(timeStep);
@@ -112,6 +177,35 @@ void btDiscreteDynamicsWorld::stepSimulation(float timeStep)
}
void btDiscreteDynamicsWorld::setGravity(const btVector3& gravity)
{
m_gravity = gravity;
for (unsigned int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
btRigidBody* body = btRigidBody::upcast(colObj);
if (body)
{
body->setGravity(gravity);
}
}
}
void btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body)
{
body->setGravity(m_gravity);
bool isDynamic = !(body->isStaticObject() || body->isKinematicObject());
short collisionFilterGroup = isDynamic?
btBroadphaseProxy::DefaultFilter :
btBroadphaseProxy::StaticFilter;
short collisionFilterMask = isDynamic?
btBroadphaseProxy::AllFilter :
btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter;
addCollisionObject(body,collisionFilterGroup,collisionFilterMask);
}
void btDiscreteDynamicsWorld::updateVehicles(float timeStep)
{
BEGIN_PROFILE("updateVehicles");
@@ -360,7 +454,7 @@ void btDiscreteDynamicsWorld::integrateTransforms(float timeStep)
btRigidBody* body = btRigidBody::upcast(colObj);
if (body)
{
if (body->IsActive() && (!body->IsStatic()))
if (body->IsActive() && (!body->isStaticObject()))
{
body->predictIntegratedTransform(timeStep, predictedTrans);
body->proceedToTransform( predictedTrans);
@@ -381,12 +475,14 @@ void btDiscreteDynamicsWorld::predictUnconstraintMotion(float timeStep)
btRigidBody* body = btRigidBody::upcast(colObj);
if (body)
{
if (body->IsActive() && (!body->IsStatic()))
if (!body->isStaticObject())
{
body->applyForces( timeStep);
body->integrateVelocities( timeStep);
body->predictIntegratedTransform(timeStep,body->m_interpolationWorldTransform);
if (body->IsActive())
{
body->applyForces( timeStep);
body->integrateVelocities( timeStep);
body->predictIntegratedTransform(timeStep,body->m_interpolationWorldTransform);
}
}
}
}