Thanks to Mårten Svanfeldt for the contribution:
- optionally disable collisions between bodies that are linked with constraints - improved debug rendering with support for compounds, spheres, capsules
This commit is contained in:
ejcoumans
File diff suppressed because it is too large
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@@ -1,154 +1,155 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_DISCRETE_DYNAMICS_WORLD_H
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#define BT_DISCRETE_DYNAMICS_WORLD_H
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#include "btDynamicsWorld.h"
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class btDispatcher;
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class btOverlappingPairCache;
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class btConstraintSolver;
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class btSimulationIslandManager;
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class btTypedConstraint;
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#include "../ConstraintSolver/btContactSolverInfo.h"
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class btRaycastVehicle;
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class btIDebugDraw;
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#include "../../LinearMath/btAlignedObjectArray.h"
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///btDiscreteDynamicsWorld provides discrete rigid body simulation
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///those classes replace the obsolete CcdPhysicsEnvironment/CcdPhysicsController
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class btDiscreteDynamicsWorld : public btDynamicsWorld
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{
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protected:
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btConstraintSolver* m_constraintSolver;
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btSimulationIslandManager* m_islandManager;
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btAlignedObjectArray<btTypedConstraint*> m_constraints;
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btIDebugDraw* m_debugDrawer;
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btVector3 m_gravity;
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//for variable timesteps
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btScalar m_localTime;
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//for variable timesteps
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bool m_ownsIslandManager;
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bool m_ownsConstraintSolver;
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btContactSolverInfo m_solverInfo;
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btAlignedObjectArray<btRaycastVehicle*> m_vehicles;
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int m_profileTimings;
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void predictUnconstraintMotion(btScalar timeStep);
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void integrateTransforms(btScalar timeStep);
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void calculateSimulationIslands();
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void solveConstraints(btContactSolverInfo& solverInfo);
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void updateActivationState(btScalar timeStep);
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void updateVehicles(btScalar timeStep);
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void startProfiling(btScalar timeStep);
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virtual void internalSingleStepSimulation( btScalar timeStep);
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void synchronizeMotionStates();
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void saveKinematicState(btScalar timeStep);
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public:
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///this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those
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btDiscreteDynamicsWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache,btConstraintSolver* constraintSolver);
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virtual ~btDiscreteDynamicsWorld();
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///if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's
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virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.));
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virtual void updateAabbs();
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void addConstraint(btTypedConstraint* constraint);
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void removeConstraint(btTypedConstraint* constraint);
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void addVehicle(btRaycastVehicle* vehicle);
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void removeVehicle(btRaycastVehicle* vehicle);
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btSimulationIslandManager* getSimulationIslandManager()
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{
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return m_islandManager;
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}
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const btSimulationIslandManager* getSimulationIslandManager() const
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{
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return m_islandManager;
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}
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btCollisionWorld* getCollisionWorld()
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{
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return this;
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}
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virtual void setDebugDrawer(btIDebugDraw* debugDrawer)
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{
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m_debugDrawer = debugDrawer;
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}
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virtual btIDebugDraw* getDebugDrawer()
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{
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return m_debugDrawer;
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}
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virtual void setGravity(const btVector3& gravity);
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virtual void addRigidBody(btRigidBody* body);
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virtual void removeRigidBody(btRigidBody* body);
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void debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color);
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virtual void setConstraintSolver(btConstraintSolver* solver);
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virtual int getNumConstraints() const;
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virtual btTypedConstraint* getConstraint(int index) ;
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virtual const btTypedConstraint* getConstraint(int index) const;
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btContactSolverInfo& getSolverInfo()
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{
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return m_solverInfo;
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}
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};
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#endif //BT_DISCRETE_DYNAMICS_WORLD_H
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_DISCRETE_DYNAMICS_WORLD_H
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#define BT_DISCRETE_DYNAMICS_WORLD_H
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#include "btDynamicsWorld.h"
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class btDispatcher;
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class btOverlappingPairCache;
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class btConstraintSolver;
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class btSimulationIslandManager;
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class btTypedConstraint;
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#include "../ConstraintSolver/btContactSolverInfo.h"
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class btRaycastVehicle;
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class btIDebugDraw;
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#include "../../LinearMath/btAlignedObjectArray.h"
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///btDiscreteDynamicsWorld provides discrete rigid body simulation
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///those classes replace the obsolete CcdPhysicsEnvironment/CcdPhysicsController
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class btDiscreteDynamicsWorld : public btDynamicsWorld
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{
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protected:
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btConstraintSolver* m_constraintSolver;
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btSimulationIslandManager* m_islandManager;
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btAlignedObjectArray<btTypedConstraint*> m_constraints;
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btIDebugDraw* m_debugDrawer;
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btVector3 m_gravity;
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//for variable timesteps
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btScalar m_localTime;
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//for variable timesteps
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bool m_ownsIslandManager;
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bool m_ownsConstraintSolver;
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btContactSolverInfo m_solverInfo;
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btAlignedObjectArray<btRaycastVehicle*> m_vehicles;
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int m_profileTimings;
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void predictUnconstraintMotion(btScalar timeStep);
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void integrateTransforms(btScalar timeStep);
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void calculateSimulationIslands();
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void solveConstraints(btContactSolverInfo& solverInfo);
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void updateActivationState(btScalar timeStep);
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void updateVehicles(btScalar timeStep);
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void startProfiling(btScalar timeStep);
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virtual void internalSingleStepSimulation( btScalar timeStep);
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void synchronizeMotionStates();
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void saveKinematicState(btScalar timeStep);
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void debugDrawSphere(btScalar radius, const btTransform& transform, const btVector3& color);
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public:
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///this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those
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btDiscreteDynamicsWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache,btConstraintSolver* constraintSolver);
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virtual ~btDiscreteDynamicsWorld();
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///if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's
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virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.));
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virtual void updateAabbs();
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void addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false);
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void removeConstraint(btTypedConstraint* constraint);
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void addVehicle(btRaycastVehicle* vehicle);
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void removeVehicle(btRaycastVehicle* vehicle);
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btSimulationIslandManager* getSimulationIslandManager()
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{
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return m_islandManager;
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}
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const btSimulationIslandManager* getSimulationIslandManager() const
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{
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return m_islandManager;
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}
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btCollisionWorld* getCollisionWorld()
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{
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return this;
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}
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virtual void setDebugDrawer(btIDebugDraw* debugDrawer)
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{
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m_debugDrawer = debugDrawer;
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}
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virtual btIDebugDraw* getDebugDrawer()
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{
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return m_debugDrawer;
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}
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virtual void setGravity(const btVector3& gravity);
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virtual void addRigidBody(btRigidBody* body);
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virtual void removeRigidBody(btRigidBody* body);
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void debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color);
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virtual void setConstraintSolver(btConstraintSolver* solver);
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virtual int getNumConstraints() const;
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virtual btTypedConstraint* getConstraint(int index) ;
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virtual const btTypedConstraint* getConstraint(int index) const;
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btContactSolverInfo& getSolverInfo()
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{
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return m_solverInfo;
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}
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};
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#endif //BT_DISCRETE_DYNAMICS_WORLD_H
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@@ -16,8 +16,9 @@ subject to the following restrictions:
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#include "btRigidBody.h"
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#include "BulletCollision/CollisionShapes/btConvexShape.h"
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#include "LinearMath/btMinMax.h"
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#include <LinearMath/btTransformUtil.h>
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#include <LinearMath/btMotionState.h>
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#include "LinearMath/btTransformUtil.h"
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#include "LinearMath/btMotionState.h"
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#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
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btScalar gLinearAirDamping = btScalar(1.);
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//'temporarily' global variables
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@@ -305,4 +306,33 @@ void btRigidBody::setCenterOfMassTransform(const btTransform& xform)
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}
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bool btRigidBody::checkCollideWithOverride(btCollisionObject* co)
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{
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btRigidBody* otherRb = btRigidBody::upcast(co);
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if (!otherRb)
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return true;
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for (int i = 0; i < m_constraintRefs.size(); ++i)
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{
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btTypedConstraint* c = m_constraintRefs[i];
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if (&c->getRigidBodyA() == otherRb || &c->getRigidBodyB() == otherRb)
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return false;
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}
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return true;
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}
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void btRigidBody::addConstraintRef(btTypedConstraint* c)
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{
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int index = m_constraintRefs.findLinearSearch(c);
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if (index == m_constraintRefs.size())
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m_constraintRefs.push_back(c);
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m_checkCollideWith = true;
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}
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void btRigidBody::removeConstraintRef(btTypedConstraint* c)
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{
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m_constraintRefs.remove(c);
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m_checkCollideWith = m_constraintRefs.size() > 0;
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}
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@@ -16,6 +16,7 @@ subject to the following restrictions:
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#ifndef RIGIDBODY_H
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#define RIGIDBODY_H
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#include "../../LinearMath/btAlignedObjectArray.h"
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#include "../../LinearMath/btPoint3.h"
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#include "../../LinearMath/btTransform.h"
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#include "../../BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
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@@ -23,7 +24,7 @@ subject to the following restrictions:
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class btCollisionShape;
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class btMotionState;
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class btTypedConstraint;
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extern btScalar gLinearAirDamping;
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@@ -57,6 +58,9 @@ class btRigidBody : public btCollisionObject
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//m_optionalMotionState allows to automatic synchronize the world transform for active objects
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btMotionState* m_optionalMotionState;
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//keep track of typed constraints referencing this rigid body
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btAlignedObjectArray<btTypedConstraint*> m_constraintRefs;
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public:
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#ifdef OBSOLETE_MOTIONSTATE_LESS
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@@ -339,6 +343,11 @@ public:
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return (getBroadphaseProxy() != 0);
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}
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virtual bool checkCollideWithOverride(btCollisionObject* co);
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void addConstraintRef(btTypedConstraint* c);
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void removeConstraintRef(btTypedConstraint* c);
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int m_debugBodyId;
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};
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