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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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42
src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
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@@ -25,7 +25,8 @@ subject to the following restrictions:
btSimpleDynamicsWorld::btSimpleDynamicsWorld()
:m_constraintSolver(new btSequentialImpulseConstraintSolver),
m_ownsConstraintSolver(true),
m_debugDrawer(0)
m_debugDrawer(0),
m_gravity(0,0,-10)
{
}
@@ -33,7 +34,8 @@ btSimpleDynamicsWorld::btSimpleDynamicsWorld(btDispatcher* dispatcher,btOverlapp
:btDynamicsWorld(dispatcher,pairCache),
m_constraintSolver(constraintSolver),
m_ownsConstraintSolver(false),
m_debugDrawer(0)
m_debugDrawer(0),
m_gravity(0,0,-10)
{
}
@@ -69,6 +71,26 @@ void btSimpleDynamicsWorld::stepSimulation(float timeStep)
}
void btSimpleDynamicsWorld::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 btSimpleDynamicsWorld::addRigidBody(btRigidBody* body)
{
body->setGravity(m_gravity);
addCollisionObject(body);
}
void btSimpleDynamicsWorld::updateAabbs()
{
@@ -79,7 +101,7 @@ void btSimpleDynamicsWorld::updateAabbs()
btRigidBody* body = btRigidBody::upcast(colObj);
if (body)
{
if (body->IsActive() && (!body->IsStatic()))
if (body->IsActive() && (!body->isStaticObject()))
{
btPoint3 minAabb,maxAabb;
colObj->m_collisionShape->getAabb(colObj->m_worldTransform, minAabb,maxAabb);
@@ -99,7 +121,7 @@ void btSimpleDynamicsWorld::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);
@@ -118,12 +140,14 @@ void btSimpleDynamicsWorld::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);
}
}
}
}