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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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62
src/BulletDynamics/Dynamics/btRigidBody.cpp
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@@ -14,10 +14,10 @@ subject to the following restrictions:
*/
#include "btRigidBody.h"
#include "btMassProps.h"
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#include "LinearMath/btMinMax.h"
#include <LinearMath/btTransformUtil.h>
#include <LinearMath/btMotionState.h>
float gLinearAirDamping = 1.f;
//'temporarily' global variables
@@ -28,6 +28,44 @@ float gLinearSleepingTreshold = 0.8f;
float gAngularSleepingTreshold = 1.0f;
static int uniqueId = 0;
btRigidBody::btRigidBody(float mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia,btScalar linearDamping,btScalar angularDamping,btScalar friction,btScalar restitution)
:
m_gravity(0.0f, 0.0f, 0.0f),
m_totalForce(0.0f, 0.0f, 0.0f),
m_totalTorque(0.0f, 0.0f, 0.0f),
m_linearVelocity(0.0f, 0.0f, 0.0f),
m_angularVelocity(0.f,0.f,0.f),
m_linearDamping(0.f),
m_angularDamping(0.5f),
m_kinematicTimeStep(0.f),
m_optionalMotionState(motionState),
m_contactSolverType(0),
m_frictionSolverType(0)
{
btQuaternion worldOrn;
btVector3 worldPos;
motionState->getWorldOrientation(worldOrn);
motionState->getWorldPosition(worldPos);
m_worldTransform = btTransform(worldOrn,worldPos);
//moved to btCollisionObject
m_friction = friction;
m_restitution = restitution;
m_collisionShape = collisionShape;
m_debugBodyId = uniqueId++;
//m_internalOwner is to allow upcasting from collision object to rigid body
m_internalOwner = this;
setMassProps(mass, localInertia);
setDamping(linearDamping, angularDamping);
updateInertiaTensor();
}
btRigidBody::btRigidBody( float mass,const btTransform& worldTransform,btCollisionShape* collisionShape,const btVector3& localInertia,btScalar linearDamping,btScalar angularDamping,btScalar friction,btScalar restitution)
:
m_gravity(0.0f, 0.0f, 0.0f),
@@ -38,13 +76,11 @@ btRigidBody::btRigidBody( float mass,const btTransform& worldTransform,btCollisi
m_linearDamping(0.f),
m_angularDamping(0.5f),
m_kinematicTimeStep(0.f),
m_optionalMotionState(0),
m_contactSolverType(0),
m_frictionSolverType(0)
{
if (mass == 0.f)
m_collisionFlags = btCollisionObject::isStatic;
m_worldTransform = worldTransform;
//moved to btCollisionObject
@@ -64,11 +100,7 @@ btRigidBody::btRigidBody( float mass,const btTransform& worldTransform,btCollisi
}
void btRigidBody::setLinearVelocity(const btVector3& lin_vel)
{
assert (m_collisionFlags != btCollisionObject::isStatic);
m_linearVelocity = lin_vel;
}
void btRigidBody::predictIntegratedTransform(btScalar timeStep,btTransform& predictedTransform) const
@@ -126,9 +158,8 @@ void btRigidBody::setDamping(btScalar lin_damping, btScalar ang_damping)
void btRigidBody::applyForces(btScalar step)
{
if (IsStatic())
if (isStaticObject() || isKinematicObject())
return;
applyCentralForce(m_gravity);
@@ -178,15 +209,14 @@ void btRigidBody::setMassProps(btScalar mass, const btVector3& inertia)
{
if (mass == 0.f)
{
m_collisionFlags = btCollisionObject::isStatic;
m_collisionFlags |= btCollisionObject::CF_STATIC_OBJECT;
m_inverseMass = 0.f;
} else
{
m_collisionFlags = 0;
m_collisionFlags & (~btCollisionObject::CF_STATIC_OBJECT);
m_inverseMass = 1.0f / mass;
}
m_invInertiaLocal.setValue(inertia[0] != 0.0f ? 1.0f / inertia[0]: 0.0f,
inertia[1] != 0.0f ? 1.0f / inertia[1]: 0.0f,
inertia[2] != 0.0f ? 1.0f / inertia[2]: 0.0f);
@@ -203,7 +233,7 @@ void btRigidBody::updateInertiaTensor()
void btRigidBody::integrateVelocities(btScalar step)
{
if (IsStatic())
if (isStaticObject() || isKinematicObject())
return;
m_linearVelocity += m_totalForce * (m_inverseMass * step);