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applied patches from Marten (Starbreeze) for per-rigidbody sleeping thresholds, access to constraint references.

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Also added assert, to make sure users don't delete rigidbodies while constraints point to them.
This commit is contained in:
ejcoumans
2007-07-26 00:16:06 +00:00
parent 9803a78140
commit bf967a458a
3 changed files with 39 additions and 4 deletions
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1
src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
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@@ -22,6 +22,7 @@ btCollisionObject::btCollisionObject()
m_activationState1(1),
m_deactivationTime(btScalar(0.)),
m_userObjectPointer(0),
m_internalOwner(0),
m_hitFraction(btScalar(1.)),
m_ccdSweptSphereRadius(btScalar(0.)),
m_ccdSquareMotionThreshold(btScalar(0.)),

7
src/BulletDynamics/Dynamics/btRigidBody.cpp
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@@ -39,6 +39,8 @@ btRigidBody::btRigidBody(btScalar mass, btMotionState* motionState, btCollisionS
m_totalTorque(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
m_linearDamping(btScalar(0.)),
m_angularDamping(btScalar(0.5)),
m_linearSleepingThreshold(gLinearSleepingThreshold),
m_angularSleepingThreshold(gAngularSleepingThreshold),
m_optionalMotionState(motionState),
m_contactSolverType(0),
m_frictionSolverType(0)
@@ -79,12 +81,15 @@ btRigidBody::btRigidBody( btScalar mass,const btTransform& worldTransform,btColl
m_totalForce(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
m_totalTorque(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
m_linearVelocity(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
m_angularVelocity(btScalar(0.),btScalar(0.),btScalar(0.)),
m_angularVelocity(btScalar(0.),btScalar(0.),btScalar(0.)),
m_linearSleepingThreshold(gLinearSleepingThreshold),
m_angularSleepingThreshold(gAngularSleepingThreshold),
m_linearDamping(btScalar(0.)),
m_angularDamping(btScalar(0.5)),
m_optionalMotionState(0),
m_contactSolverType(0),
m_frictionSolverType(0)
{
m_worldTransform = worldTransform;

35
src/BulletDynamics/Dynamics/btRigidBody.h
View File

@@ -53,7 +53,10 @@ class btRigidBody : public btCollisionObject
btScalar m_linearDamping;
btScalar m_angularDamping;
btScalar m_linearSleepingThreshold;
btScalar m_angularSleepingThreshold;
//m_optionalMotionState allows to automatic synchronize the world transform for active objects
btMotionState* m_optionalMotionState;
@@ -70,6 +73,14 @@ public:
btRigidBody(btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0),btScalar linearDamping=btScalar(0.),btScalar angularDamping=btScalar(0.),btScalar friction=btScalar(0.5),btScalar restitution=btScalar(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);
}
void proceedToTransform(const btTransform& newTrans);
///to keep collision detection and dynamics separate we don't store a rigidbody pointer
@@ -134,6 +145,12 @@ public:
m_invInertiaLocal = diagInvInertia;
}
void setSleepingThresholds(btScalar linear,btScalar angular)
{
m_linearSleepingThreshold = linear;
m_angularSleepingThreshold = angular;
}
void applyTorque(const btVector3& torque)
{
m_totalTorque += torque;
@@ -258,11 +275,12 @@ public:
inline void updateDeactivation(btScalar timeStep)
{
return;
if ( (getActivationState() == ISLAND_SLEEPING) || (getActivationState() == DISABLE_DEACTIVATION))
return;
if ((getLinearVelocity().length2() < gLinearSleepingThreshold*gLinearSleepingThreshold) &&
(getAngularVelocity().length2() < gAngularSleepingThreshold*gAngularSleepingThreshold))
if ((getLinearVelocity().length2() < m_linearSleepingThreshold*m_linearSleepingThreshold) &&
(getAngularVelocity().length2() < m_angularSleepingThreshold*m_angularSleepingThreshold))
{
m_deactivationTime += timeStep;
} else
@@ -348,6 +366,17 @@ public:
void addConstraintRef(btTypedConstraint* c);
void removeConstraintRef(btTypedConstraint* c);
btTypedConstraint* getConstraintRef(int index)
{
return m_constraintRefs[index];
}
int getNumConstraintRefs()
{
return m_constraintRefs.size();
}
int m_debugBodyId;
};