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- added linear limits to btGeneric6DofConstraint and made sure the linear axis are in local space of objectA

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- use microseconds instead of milliseconds for deltatime
This commit is contained in:
ejcoumans
2006-11-07 02:32:52 +00:00
parent 074e2b2d3b
commit c3ed55057c
12 changed files with 163 additions and 39 deletions
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6
Demos/BasicDemo/BasicDemo.cpp
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@@ -61,14 +61,14 @@ void BasicDemo::clientMoveAndDisplay()
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
//simple dynamics world doesn't handle fixed-time-stepping
float ms = m_clock.getTimeMilliseconds();
float ms = m_clock.getTimeMicroseconds();
m_clock.reset();
float minFPS = 1000.f/60.f;
float minFPS = 1000000.f/60.f;
if (ms > minFPS)
ms = minFPS;
if (m_dynamicsWorld)
m_dynamicsWorld->stepSimulation(ms / 1000.f);
m_dynamicsWorld->stepSimulation(ms / 1000000.f);
renderme();

2
Demos/BspDemo/BspDemo.cpp
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@@ -185,7 +185,7 @@ void BspDemo::clientMoveAndDisplay()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
float dt = m_clock.getTimeMilliseconds() * 0.001f;
float dt = m_clock.getTimeMicroseconds() * 0.000001f;
m_clock.reset();
m_dynamicsWorld->stepSimulation(dt);

2
Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
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@@ -160,7 +160,7 @@ void CcdPhysicsDemo::clientMoveAndDisplay()
#endif //USE_KINEMATIC_GROUND
float dt = m_clock.getTimeMilliseconds() * 0.001f;
float dt = m_clock.getTimeMicroseconds() * 0.000001f;
m_clock.reset();
printf("dt = %f: ",dt);

2
Demos/ColladaDemo/ColladaDemo.cpp
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@@ -188,7 +188,7 @@ void ColladaDemo::clientMoveAndDisplay()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
float dt = m_clock.getTimeMilliseconds() * 0.001f;
float dt = m_clock.getTimeMicroseconds() * 0.000001f;
m_clock.reset();
m_dynamicsWorld->stepSimulation(dt);

2
Demos/ConcaveDemo/ConcavePhysicsDemo.cpp
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@@ -183,7 +183,7 @@ void ConcaveDemo::clientMoveAndDisplay()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
float dt = m_clock.getTimeMilliseconds() * 0.001f;
float dt = m_clock.getTimeMicroseconds() * 0.000001f;
m_clock.reset();
m_dynamicsWorld->stepSimulation(dt);

92
Demos/ConstraintDemo/ConstraintDemo.cpp
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@@ -14,6 +14,7 @@ subject to the following restrictions:
*/
#include "btBulletDynamicsCommon.h"
#include "LinearMath/btIDebugDraw.h"
@@ -45,8 +46,21 @@ int main(int argc,char** argv)
return glutmain(argc, argv,640,480,"Constraint Demo. http://www.continuousphysics.com/Bullet/phpBB2/",constraintDemo);
}
btTransform sliderTransform;
btVector3 lowerSliderLimit = btVector3(-20,0,0);
btVector3 hiSliderLimit = btVector3(10,0,0);
void drawLimit()
{
btVector3 from = sliderTransform*lowerSliderLimit;
btVector3 to = sliderTransform*hiSliderLimit;
btVector3 color(255,0,0);
glBegin(GL_LINES);
glColor3f(color.getX(), color.getY(), color.getZ());
glVertex3d(from.getX(), from.getY(), from.getZ());
glVertex3d(to.getX(), to.getY(), to.getZ());
glEnd();
}
void ConstraintDemo::initPhysics()
{
@@ -56,6 +70,7 @@ void ConstraintDemo::initPhysics()
//btOverlappingPairCache* broadphase = new btSimpleBroadphase();
m_dynamicsWorld = new btDiscreteDynamicsWorld();
m_dynamicsWorld->setDebugDrawer(&debugDrawer);
btCollisionShape* shape = new btBoxShape(btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS));
btTransform trans;
@@ -63,17 +78,16 @@ void ConstraintDemo::initPhysics()
trans.setOrigin(btVector3(0,20,0));
float mass = 0.f;
//point to point constraint (ball socket)
{
btRigidBody* body0 = localCreateRigidBody( mass,trans,shape);
trans.setOrigin(btVector3(2*CUBE_HALF_EXTENTS,20,0));
mass = 1.f;
btRigidBody* body1 = localCreateRigidBody( mass,trans,shape);
body1->setActivationState(DISABLE_DEACTIVATION);
body1->setDamping(0.3,0.3);
clientResetScene();
{
btVector3 pivotInA(CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS);
btVector3 axisInA(0,0,1);
@@ -87,6 +101,38 @@ void ConstraintDemo::initPhysics()
m_dynamicsWorld->addConstraint(p2p);
}
//create a slider, using the generic D6 constraint
{
mass = 1.f;
btVector3 sliderWorldPos(0,10,0);
btVector3 sliderAxis(0,0,1);
btScalar angle=SIMD_RADS_PER_DEG * 10.f;
btMatrix3x3 sliderOrientation(btQuaternion(sliderAxis ,angle));
trans.setOrigin(sliderWorldPos);
trans.setBasis(sliderOrientation);
sliderTransform = trans;
btRigidBody* body0 = localCreateRigidBody( mass,trans,shape);
body0->setActivationState(DISABLE_DEACTIVATION);
btRigidBody* fixedBody1 = localCreateRigidBody(0,trans,0);
btTransform frameInA, frameInB;
frameInA = btTransform::getIdentity();
frameInB = btTransform::getIdentity();
btGeneric6DofConstraint* slider = new btGeneric6DofConstraint(*body0,*fixedBody1,frameInA,frameInB);
slider->setLinearLowerLimit(lowerSliderLimit);
slider->setLinearUpperLimit(hiSliderLimit);
slider->setAngularLowerLimit(btVector3(1e30,0,0));
slider->setAngularUpperLimit(btVector3(-1e30,0,0));
m_dynamicsWorld->addConstraint(slider);
}
}
@@ -95,13 +141,40 @@ void ConstraintDemo::clientMoveAndDisplay()
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
float dt = m_clock.getTimeMilliseconds() * 0.001f;
float dt = float(m_clock.getTimeMicroseconds()) * 0.000001f;
m_clock.reset();
//printf("dt = %f: ",dt);
m_dynamicsWorld->stepSimulation(dt);
{
//during idle mode, just run 1 simulation step maximum
int maxSimSubSteps = m_idle ? 1 : 1;
if (m_idle)
dt = 1.0/420.f;
int numSimSteps = m_dynamicsWorld->stepSimulation(dt,maxSimSubSteps);
bool verbose = false;
if (verbose)
{
if (!numSimSteps)
printf("Interpolated transforms\n");
else
{
if (numSimSteps > maxSimSubSteps)
{
//detect dropping frames
printf("Dropped (%i) simulation steps out of %i\n",numSimSteps - maxSimSubSteps,numSimSteps);
} else
{
printf("Simulated (%i) steps\n",numSimSteps);
}
}
}
}
renderme();
drawLimit();
glFlush();
glutSwapBuffers();
}
@@ -113,6 +186,11 @@ void ConstraintDemo::displayCallback(void) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
m_dynamicsWorld->updateAabbs();
drawLimit();
renderme();
glFlush();

2
Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.cpp
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@@ -294,7 +294,7 @@ void ConvexDecompositionDemo::clientMoveAndDisplay()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
float dt = m_clock.getTimeMilliseconds() * 0.001f;
float dt = m_clock.getTimeMicroseconds() * 0.000001f;
m_clock.reset();
m_dynamicsWorld->stepSimulation(dt);

4
Demos/OpenGL/DemoApplication.cpp
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@@ -822,6 +822,10 @@ void DemoApplication::renderme()
void DemoApplication::clientResetScene()
{
if (m_dynamicsWorld)
{
m_dynamicsWorld->stepSimulation(1.f/60.f,0);
}
int numObjects = m_dynamicsWorld->getNumCollisionObjects();
for (int i=0;i<numObjects;i++)

2
Demos/UserCollisionAlgorithm/UserCollisionAlgorithm.cpp
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@@ -142,7 +142,7 @@ void UserCollisionAlgorithm::clientMoveAndDisplay()
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
float dt = m_clock.getTimeMilliseconds() * 0.001f;
float dt = m_clock.getTimeMicroseconds() * 0.000001f;
m_clock.reset();

2
Demos/VehicleDemo/VehicleDemo.cpp
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@@ -247,7 +247,7 @@ void VehicleDemo::clientMoveAndDisplay()
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
float dt = m_clock.getTimeMilliseconds() * 0.001f;
float dt = m_clock.getTimeMicroseconds() * 0.000001f;
m_clock.reset();
if (m_dynamicsWorld)

55
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
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@@ -21,6 +21,7 @@ subject to the following restrictions:
static const btScalar kSign[] = { 1.0f, -1.0f, 1.0f };
static const int kAxisA[] = { 1, 0, 0 };
static const int kAxisB[] = { 2, 2, 1 };
#define GENERIC_D6_DISABLE_WARMSTARTING 1
btGeneric6DofConstraint::btGeneric6DofConstraint()
{
@@ -47,7 +48,7 @@ btGeneric6DofConstraint::btGeneric6DofConstraint(btRigidBody& rbA, btRigidBody&
void btGeneric6DofConstraint::buildJacobian()
{
btVector3 normal(0,0,0);
btVector3 localNormalInA(0,0,0);
const btVector3& pivotInA = m_frameInA.getOrigin();
const btVector3& pivotInB = m_frameInB.getOrigin();
@@ -64,7 +65,9 @@ void btGeneric6DofConstraint::buildJacobian()
{
if (isLimited(i))
{
normal[i] = 1;
localNormalInA[i] = 1;
btVector3 normalWorld = m_rbA.getCenterOfMassTransform().getBasis() * localNormalInA;
// Create linear atom
new (&m_jacLinear[i]) btJacobianEntry(
@@ -72,19 +75,24 @@ void btGeneric6DofConstraint::buildJacobian()
m_rbB.getCenterOfMassTransform().getBasis().transpose(),
m_rbA.getCenterOfMassTransform()*pivotInA - m_rbA.getCenterOfMassPosition(),
m_rbB.getCenterOfMassTransform()*pivotInB - m_rbB.getCenterOfMassPosition(),
normal,
normalWorld,
m_rbA.getInvInertiaDiagLocal(),
m_rbA.getInvMass(),
m_rbB.getInvInertiaDiagLocal(),
m_rbB.getInvMass());
//optionally disable warmstarting
#ifdef GENERIC_D6_DISABLE_WARMSTARTING
m_accumulatedImpulse[i] = 0.f;
#endif //GENERIC_D6_DISABLE_WARMSTARTING
// Apply accumulated impulse
btVector3 impulse_vector = m_accumulatedImpulse[i] * normal;
btVector3 impulse_vector = m_accumulatedImpulse[i] * normalWorld;
m_rbA.applyImpulse( impulse_vector, rel_pos1);
m_rbB.applyImpulse(-impulse_vector, rel_pos2);
normal[i] = 0;
localNormalInA[i] = 0;
}
}
@@ -106,6 +114,10 @@ void btGeneric6DofConstraint::buildJacobian()
m_rbA.getInvInertiaDiagLocal(),
m_rbB.getInvInertiaDiagLocal());
#ifdef GENERIC_D6_DISABLE_WARMSTARTING
m_accumulatedImpulse[i + 3] = 0.f;
#endif //GENERIC_D6_DISABLE_WARMSTARTING
// Apply accumulated impulse
btVector3 impulse_vector = m_accumulatedImpulse[i + 3] * axis;
@@ -126,7 +138,7 @@ void btGeneric6DofConstraint::solveConstraint(btScalar timeStep)
btVector3 rel_pos1 = pivotAInW - m_rbA.getCenterOfMassPosition();
btVector3 rel_pos2 = pivotBInW - m_rbB.getCenterOfMassPosition();
btVector3 normal(0,0,0);
btVector3 localNormalInA(0,0,0);
int i;
// linear
@@ -137,8 +149,10 @@ void btGeneric6DofConstraint::solveConstraint(btScalar timeStep)
btVector3 angvelA = m_rbA.getCenterOfMassTransform().getBasis().transpose() * m_rbA.getAngularVelocity();
btVector3 angvelB = m_rbB.getCenterOfMassTransform().getBasis().transpose() * m_rbB.getAngularVelocity();
localNormalInA.setValue(0,0,0);
localNormalInA[i] = 1;
btVector3 normalWorld = m_rbA.getCenterOfMassTransform().getBasis() * localNormalInA;
normal[i] = 1;
btScalar jacDiagABInv = 1.f / m_jacLinear[i].getDiagonal();
//velocity error (first order error)
@@ -146,16 +160,37 @@ void btGeneric6DofConstraint::solveConstraint(btScalar timeStep)
m_rbB.getLinearVelocity(),angvelB);
//positional error (zeroth order error)
btScalar depth = -(pivotAInW - pivotBInW).dot(normal);
btScalar depth = -(pivotAInW - pivotBInW).dot(normalWorld);
//handle the limits
if (m_lowerLimit[i] < m_upperLimit[i])
{
{
if (depth > m_upperLimit[i])
{
depth -= m_upperLimit[i];
} else
{
if (depth < m_lowerLimit[i])
{
depth -= m_lowerLimit[i];
} else
{
continue;
}
}
}
}
btScalar impulse = (tau*depth/timeStep - damping*rel_vel) * jacDiagABInv;
m_accumulatedImpulse[i] += impulse;
btVector3 impulse_vector = normal * impulse;
btVector3 impulse_vector = normalWorld * impulse;
m_rbA.applyImpulse( impulse_vector, rel_pos1);
m_rbB.applyImpulse(-impulse_vector, rel_pos2);
normal[i] = 0;
localNormalInA[i] = 0;
}
}

7
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -268,14 +268,21 @@ void btDiscreteDynamicsWorld::removeRigidBody(btRigidBody* body)
}
void btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body)
{
if (!body->isStaticOrKinematicObject())
{
body->setGravity(m_gravity);
}
if (body->getCollisionShape())
{
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)