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Thanks to Mårten Svanfeldt for the contribution:

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- 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
2007-06-28 19:14:30 +00:00
parent a0c5401033
commit ced94d63bf
9 changed files with 1204 additions and 1037 deletions
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2
src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
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@@ -273,6 +273,8 @@ bool btCollisionDispatcher::needsCollision(btCollisionObject* body0,btCollisionO
if ((!body0->isActive()) && (!body1->isActive()))
needsCollision = false;
else if (!body0->checkCollideWith(body1))
needsCollision = false;
return needsCollision ;

3
src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
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@@ -24,7 +24,8 @@ btCollisionObject::btCollisionObject()
m_userObjectPointer(0),
m_hitFraction(btScalar(1.)),
m_ccdSweptSphereRadius(btScalar(0.)),
m_ccdSquareMotionThreshold(btScalar(0.))
m_ccdSquareMotionThreshold(btScalar(0.)),
m_checkCollideWith(false)
{
}

27
src/BulletCollision/CollisionDispatch/btCollisionObject.h
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@@ -69,15 +69,23 @@ protected:
void* m_internalOwner;
///time of impact calculation
btScalar m_hitFraction;
btScalar m_hitFraction;
///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
btScalar m_ccdSweptSphereRadius;
btScalar m_ccdSweptSphereRadius;
/// Don't do continuous collision detection if square motion (in one step) is less then m_ccdSquareMotionThreshold
btScalar m_ccdSquareMotionThreshold;
btScalar m_ccdSquareMotionThreshold;
char m_pad[8];
/// If some object should have elaborate collision filtering by sub-classes
bool m_checkCollideWith;
char m_pad[7];
virtual bool checkCollideWithOverride(btCollisionObject* co)
{
return true;
}
public:
@@ -159,7 +167,7 @@ public:
return ((getActivationState() != ISLAND_SLEEPING) && (getActivationState() != DISABLE_SIMULATION));
}
void setRestitution(btScalar rest)
void setRestitution(btScalar rest)
{
m_restitution = rest;
}
@@ -322,6 +330,15 @@ public:
m_userObjectPointer = userPointer;
}
inline bool checkCollideWith(btCollisionObject* co)
{
if (m_checkCollideWith)
return checkCollideWithOverride(co);
return true;
}
}
;

36
src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
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@@ -290,16 +290,32 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback
for(int x=startX; x<endX; x++)
{
btVector3 vertices[3];
//first triangle
getVertex(x,j,vertices[0]);
getVertex(x,j+1,vertices[1]);
getVertex(x+1,j,vertices[2]);
callback->processTriangle(vertices,x,j);
//second triangle
getVertex(x+1,j,vertices[0]);
getVertex(x,j+1,vertices[1]);
getVertex(x+1,j+1,vertices[2]);
callback->processTriangle(vertices,x,j);
if (!m_flipQuadEdges)
{
//first triangle
getVertex(x,j,vertices[0]);
getVertex(x,j+1,vertices[1]);
getVertex(x+1,j,vertices[2]);
callback->processTriangle(vertices,x,j);
//second triangle
getVertex(x+1,j,vertices[0]);
getVertex(x,j+1,vertices[1]);
getVertex(x+1,j+1,vertices[2]);
callback->processTriangle(vertices,x,j);
} else
{
//first triangle
getVertex(x,j,vertices[0]);
getVertex(x+1,j,vertices[1]);
getVertex(x+1,j+1,vertices[2]);
callback->processTriangle(vertices,x,j);
//second triangle
getVertex(x,j,vertices[0]);
getVertex(x+1,j+1,vertices[1]);
getVertex(x,j+1,vertices[2]);
callback->processTriangle(vertices,x,j);
}
}
}

14
src/BulletCollision/CollisionShapes/btMultiSphereShape.h
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@@ -46,6 +46,20 @@ public:
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
int getSphereCount() const
{
return m_numSpheres;
}
const btVector3& getSpherePosition(int index) const
{
return m_localPositions[index];
}
btScalar getSphereRadius(int index) const
{
return m_radi[index];
}
virtual int getShapeType() const { return MULTI_SPHERE_SHAPE_PROXYTYPE; }

107
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -30,15 +30,17 @@ subject to the following restrictions:
#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
//for debug rendering
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletCollision/CollisionShapes/btCylinderShape.h"
#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
#include "BulletCollision/CollisionShapes/btConeShape.h"
#include "BulletCollision/CollisionShapes/btTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
#include "BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btCylinderShape.h"
#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionShapes/btTriangleCallback.h"
#include "BulletCollision/CollisionShapes/btTriangleMeshShape.h"
#include "LinearMath/btIDebugDraw.h"
@@ -370,14 +372,21 @@ void btDiscreteDynamicsWorld::updateActivationState(btScalar timeStep)
END_PROFILE("updateActivationState");
}
void btDiscreteDynamicsWorld::addConstraint(btTypedConstraint* constraint)
void btDiscreteDynamicsWorld::addConstraint(btTypedConstraint* constraint,bool disableCollisionsBetweenLinkedBodies)
{
m_constraints.push_back(constraint);
if (disableCollisionsBetweenLinkedBodies)
{
constraint->getRigidBodyA().addConstraintRef(constraint);
constraint->getRigidBodyB().addConstraintRef(constraint);
}
}
void btDiscreteDynamicsWorld::removeConstraint(btTypedConstraint* constraint)
{
m_constraints.remove(constraint);
constraint->getRigidBodyA().removeConstraintRef(constraint);
constraint->getRigidBodyB().removeConstraintRef(constraint);
}
void btDiscreteDynamicsWorld::addVehicle(btRaycastVehicle* vehicle)
@@ -726,10 +735,42 @@ public:
}
};
void btDiscreteDynamicsWorld::debugDrawSphere(btScalar radius, const btTransform& transform, const btVector3& color)
{
btVector3 start = transform.getOrigin();
const btVector3 xoffs = transform.getBasis() * btVector3(radius,0,0);
const btVector3 yoffs = transform.getBasis() * btVector3(0,radius,0);
const btVector3 zoffs = transform.getBasis() * btVector3(0,0,radius);
// XY
getDebugDrawer()->drawLine(start-xoffs, start+yoffs, color);
getDebugDrawer()->drawLine(start+yoffs, start+xoffs, color);
getDebugDrawer()->drawLine(start+xoffs, start-yoffs, color);
getDebugDrawer()->drawLine(start-yoffs, start-xoffs, color);
// XZ
getDebugDrawer()->drawLine(start-xoffs, start+zoffs, color);
getDebugDrawer()->drawLine(start+zoffs, start+xoffs, color);
getDebugDrawer()->drawLine(start+xoffs, start-zoffs, color);
getDebugDrawer()->drawLine(start-zoffs, start-xoffs, color);
// YZ
getDebugDrawer()->drawLine(start-yoffs, start+zoffs, color);
getDebugDrawer()->drawLine(start+zoffs, start+yoffs, color);
getDebugDrawer()->drawLine(start+yoffs, start-zoffs, color);
getDebugDrawer()->drawLine(start-zoffs, start-yoffs, color);
}
void btDiscreteDynamicsWorld::debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color)
{
// Draw a small simplex at the center of the object
{
btVector3 start = worldTransform.getOrigin();
getDebugDrawer()->drawLine(start, start+worldTransform.getBasis() * btVector3(1,0,0), btVector3(1,0,0));
getDebugDrawer()->drawLine(start, start+worldTransform.getBasis() * btVector3(0,1,0), btVector3(0,1,0));
getDebugDrawer()->drawLine(start, start+worldTransform.getBasis() * btVector3(0,0,1), btVector3(0,0,1));
}
if (shape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE)
{
@@ -750,14 +791,52 @@ void btDiscreteDynamicsWorld::debugDrawObject(const btTransform& worldTransform,
{
const btSphereShape* sphereShape = static_cast<const btSphereShape*>(shape);
btScalar radius = sphereShape->getMargin();//radius doesn't include the margin, so draw with margin
btVector3 start = worldTransform.getOrigin();
getDebugDrawer()->drawLine(start,start+worldTransform.getBasis() * btVector3(radius,0,0),color);
getDebugDrawer()->drawLine(start,start+worldTransform.getBasis() * btVector3(0,radius,0),color);
getDebugDrawer()->drawLine(start,start+worldTransform.getBasis() * btVector3(0,0,radius),color);
//drawSphere
debugDrawSphere(radius, worldTransform, color);
break;
}
case MULTI_SPHERE_SHAPE_PROXYTYPE:
{
const btMultiSphereShape* multiSphereShape = static_cast<const btMultiSphereShape*>(shape);
for (int i = multiSphereShape->getSphereCount()-1; i>=0;i--)
{
btTransform childTransform = worldTransform;
childTransform.getOrigin() += multiSphereShape->getSpherePosition(i);
debugDrawSphere(multiSphereShape->getSphereRadius(i), childTransform, color);
}
break;
}
case CAPSULE_SHAPE_PROXYTYPE:
{
const btCapsuleShape* capsuleShape = static_cast<const btCapsuleShape*>(shape);
btScalar radius = capsuleShape->getRadius();
btScalar halfHeight = capsuleShape->getHalfHeight();
// Draw the ends
{
btTransform childTransform = worldTransform;
childTransform.getOrigin() = worldTransform * btVector3(0,halfHeight,0);
debugDrawSphere(radius, childTransform, color);
}
{
btTransform childTransform = worldTransform;
childTransform.getOrigin() = worldTransform * btVector3(0,-halfHeight,0);
debugDrawSphere(radius, childTransform, color);
}
// Draw some additional lines
btVector3 start = worldTransform.getOrigin();
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(-radius,halfHeight,0),start+worldTransform.getBasis() * btVector3(-radius,-halfHeight,0), color);
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(radius,halfHeight,0),start+worldTransform.getBasis() * btVector3(radius,-halfHeight,0), color);
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(0,halfHeight,-radius),start+worldTransform.getBasis() * btVector3(0,-halfHeight,-radius), color);
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(0,halfHeight,radius),start+worldTransform.getBasis() * btVector3(0,-halfHeight,radius), color);
break;
}
case CONE_SHAPE_PROXYTYPE:
{
const btConeShape* coneShape = static_cast<const btConeShape*>(shape);
@@ -789,11 +868,9 @@ void btDiscreteDynamicsWorld::debugDrawObject(const btTransform& worldTransform,
default:
{
if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
if (shape->isConcave())
{
btTriangleMeshShape* concaveMesh = (btTriangleMeshShape*) shape;
//btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
//btVector3 aabbMax(100,100,100);//btScalar(1e30),btScalar(1e30),btScalar(1e30));
btConcaveShape* concaveMesh = (btConcaveShape*) shape;
//todo pass camera, for some culling
btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));

3
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
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@@ -80,6 +80,7 @@ protected:
void saveKinematicState(btScalar timeStep);
void debugDrawSphere(btScalar radius, const btTransform& transform, const btVector3& color);
public:
@@ -94,7 +95,7 @@ public:
virtual void updateAabbs();
void addConstraint(btTypedConstraint* constraint);
void addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false);
void removeConstraint(btTypedConstraint* constraint);

34
src/BulletDynamics/Dynamics/btRigidBody.cpp
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@@ -16,8 +16,9 @@ subject to the following restrictions:
#include "btRigidBody.h"
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#include "LinearMath/btMinMax.h"
#include <LinearMath/btTransformUtil.h>
#include <LinearMath/btMotionState.h>
#include "LinearMath/btTransformUtil.h"
#include "LinearMath/btMotionState.h"
#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
btScalar gLinearAirDamping = btScalar(1.);
//'temporarily' global variables
@@ -305,4 +306,33 @@ void btRigidBody::setCenterOfMassTransform(const btTransform& xform)
}
bool btRigidBody::checkCollideWithOverride(btCollisionObject* co)
{
btRigidBody* otherRb = btRigidBody::upcast(co);
if (!otherRb)
return true;
for (int i = 0; i < m_constraintRefs.size(); ++i)
{
btTypedConstraint* c = m_constraintRefs[i];
if (&c->getRigidBodyA() == otherRb || &c->getRigidBodyB() == otherRb)
return false;
}
return true;
}
void btRigidBody::addConstraintRef(btTypedConstraint* c)
{
int index = m_constraintRefs.findLinearSearch(c);
if (index == m_constraintRefs.size())
m_constraintRefs.push_back(c);
m_checkCollideWith = true;
}
void btRigidBody::removeConstraintRef(btTypedConstraint* c)
{
m_constraintRefs.remove(c);
m_checkCollideWith = m_constraintRefs.size() > 0;
}

11
src/BulletDynamics/Dynamics/btRigidBody.h
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@@ -16,6 +16,7 @@ subject to the following restrictions:
#ifndef RIGIDBODY_H
#define RIGIDBODY_H
#include "../../LinearMath/btAlignedObjectArray.h"
#include "../../LinearMath/btPoint3.h"
#include "../../LinearMath/btTransform.h"
#include "../../BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
@@ -23,7 +24,7 @@ subject to the following restrictions:
class btCollisionShape;
class btMotionState;
class btTypedConstraint;
extern btScalar gLinearAirDamping;
@@ -57,6 +58,9 @@ class btRigidBody : public btCollisionObject
//m_optionalMotionState allows to automatic synchronize the world transform for active objects
btMotionState* m_optionalMotionState;
//keep track of typed constraints referencing this rigid body
btAlignedObjectArray<btTypedConstraint*> m_constraintRefs;
public:
#ifdef OBSOLETE_MOTIONSTATE_LESS
@@ -339,6 +343,11 @@ public:
return (getBroadphaseProxy() != 0);
}
virtual bool checkCollideWithOverride(btCollisionObject* co);
void addConstraintRef(btTypedConstraint* c);
void removeConstraintRef(btTypedConstraint* c);
int m_debugBodyId;
};