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add FractureDemo to AllBulletDemos

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improvements in CCD handling
some cleanup of CcdPhysicsDemo and BasicDemo
This commit is contained in:
erwin.coumans
2011-04-09 01:14:21 +00:00
parent 2291a6a9d3
commit cdddf9d25a
29 changed files with 550 additions and 867 deletions
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72
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -35,6 +35,8 @@ subject to the following restrictions:
#include "BulletDynamics/ConstraintSolver/btConeTwistConstraint.h"
#include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h"
#include "BulletDynamics/ConstraintSolver/btSliderConstraint.h"
#include "BulletDynamics/ConstraintSolver/btContactConstraint.h"
#include "LinearMath/btIDebugDraw.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
@@ -325,7 +327,8 @@ void btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
///perform collision detection
performDiscreteCollisionDetection();
addSpeculativeContacts(timeStep);
if (getDispatchInfo().m_useContinuous)
addSpeculativeContacts(timeStep);
calculateSimulationIslands();
@@ -851,36 +854,93 @@ void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
if (body->isActive() && (!body->isStaticOrKinematicObject()))
{
body->predictIntegratedTransform(timeStep, predictedTrans);
btScalar squareMotion = (predictedTrans.getOrigin()-body->getWorldTransform().getOrigin()).length2();
if (body->getCcdSquareMotionThreshold() && body->getCcdSquareMotionThreshold() < squareMotion)
if (getDispatchInfo().m_useContinuous && body->getCcdSquareMotionThreshold() && body->getCcdSquareMotionThreshold() < squareMotion)
{
BT_PROFILE("CCD motion clamping");
if (body->getCollisionShape()->isConvex())
{
gNumClampedCcdMotions++;
#ifdef USE_STATIC_ONLY
class StaticOnlyCallback : public btClosestNotMeConvexResultCallback
{
public:
StaticOnlyCallback (btCollisionObject* me,const btVector3& fromA,const btVector3& toA,btOverlappingPairCache* pairCache,btDispatcher* dispatcher) :
btClosestNotMeConvexResultCallback(me,fromA,toA,pairCache,dispatcher)
{
}
virtual bool needsCollision(btBroadphaseProxy* proxy0) const
{
btCollisionObject* otherObj = (btCollisionObject*) proxy0->m_clientObject;
if (!otherObj->isStaticOrKinematicObject())
return false;
return btClosestNotMeConvexResultCallback::needsCollision(proxy0);
}
};
StaticOnlyCallback sweepResults(body,body->getWorldTransform().getOrigin(),predictedTrans.getOrigin(),getBroadphase()->getOverlappingPairCache(),getDispatcher());
#else
btClosestNotMeConvexResultCallback sweepResults(body,body->getWorldTransform().getOrigin(),predictedTrans.getOrigin(),getBroadphase()->getOverlappingPairCache(),getDispatcher());
#endif
//btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
btSphereShape tmpSphere(body->getCcdSweptSphereRadius());//btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
sweepResults.m_allowedPenetration=getDispatchInfo().m_allowedCcdPenetration;
sweepResults.m_collisionFilterGroup = body->getBroadphaseProxy()->m_collisionFilterGroup;
sweepResults.m_collisionFilterMask = body->getBroadphaseProxy()->m_collisionFilterMask;
btTransform modifiedPredictedTrans = predictedTrans;
modifiedPredictedTrans.setBasis(body->getWorldTransform().getBasis());
convexSweepTest(&tmpSphere,body->getWorldTransform(),predictedTrans,sweepResults);
convexSweepTest(&tmpSphere,body->getWorldTransform(),modifiedPredictedTrans,sweepResults);
if (sweepResults.hasHit() && (sweepResults.m_closestHitFraction < 1.f))
{
//printf("clamped integration to hit fraction = %f\n",fraction);
body->setHitFraction(sweepResults.m_closestHitFraction);
body->predictIntegratedTransform(timeStep*body->getHitFraction(), predictedTrans);
body->setHitFraction(0.f);
body->setLinearVelocity(btVector3(0,0.1,0));
body->proceedToTransform( predictedTrans);
// printf("clamped integration to hit fraction = %f\n",fraction);
#if 0
btVector3 linVel = body->getLinearVelocity();
btScalar maxSpeed = body->getCcdMotionThreshold()/getSolverInfo().m_timeStep;
btScalar maxSpeedSqr = maxSpeed*maxSpeed;
if (linVel.length2()>maxSpeedSqr)
{
linVel.normalize();
linVel*= maxSpeed;
body->setLinearVelocity(linVel);
btScalar ms2 = body->getLinearVelocity().length2();
body->predictIntegratedTransform(timeStep, predictedTrans);
btScalar sm2 = (predictedTrans.getOrigin()-body->getWorldTransform().getOrigin()).length2();
btScalar smt = body->getCcdSquareMotionThreshold();
printf("sm2=%f\n",sm2);
}
#else
//response between two dynamic objects without friction, assuming 0 penetration depth
btScalar appliedImpulse = 0.f;
btScalar depth = 0.f;
appliedImpulse = resolveSingleCollision(body,sweepResults.m_hitCollisionObject,sweepResults.m_hitPointWorld,sweepResults.m_hitNormalWorld,getSolverInfo(), depth);
#endif
continue;
}
}
}
body->proceedToTransform( predictedTrans);
}
}