Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

fixes to allow applying impulses during interpolated timesteps (avoid visual discontinuities)

Browse Source 
experimental jitter removal (doesn't work very well yet)
This commit is contained in:
ejcoumans
2006-10-30 19:37:08 +00:00
parent b14ccdaa57
commit d1a1b3d492
4 changed files with 42 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files

39
src/BulletDynamics/Dynamics/btRigidBody.cpp
View File

@@ -45,7 +45,9 @@ btRigidBody::btRigidBody(float mass, btMotionState* motionState, btCollisionShap
motionState->getWorldTransform(m_worldTransform);
m_interpolationWorldTransform = m_worldTransform;
m_interpolationLinearVelocity.setValue(0,0,0);
m_interpolationAngularVelocity.setValue(0,0,0);
//moved to btCollisionObject
m_friction = friction;
m_restitution = restitution;
@@ -79,6 +81,8 @@ btRigidBody::btRigidBody( float mass,const btTransform& worldTransform,btCollisi
m_worldTransform = worldTransform;
m_interpolationWorldTransform = m_worldTransform;
m_interpolationLinearVelocity.setValue(0,0,0);
m_interpolationAngularVelocity.setValue(0,0,0);
//moved to btCollisionObject
m_friction = friction;
@@ -96,12 +100,32 @@ btRigidBody::btRigidBody( float mass,const btTransform& worldTransform,btCollisi
}
#define EXPERIMENTAL_JITTER_REMOVAL 1
#ifdef EXPERIMENTAL_JITTER_REMOVAL
//Bullet 2.20b has experimental code to reduce jitter just before objects fall asleep/deactivate
//doesn't work very well yet (value 0 only reduces performance a bit, no difference in functionality)
float gClippedAngvelThresholdSqr = 0.f;
float gClippedLinearThresholdSqr = 0.f;
#endif //EXPERIMENTAL_JITTER_REMOVAL
void btRigidBody::predictIntegratedTransform(btScalar timeStep,btTransform& predictedTransform) const
void btRigidBody::predictIntegratedTransform(btScalar timeStep,btTransform& predictedTransform)
{
#ifdef EXPERIMENTAL_JITTER_REMOVAL
//clip to avoid jitter
if (m_angularVelocity.length2() < gClippedAngvelThresholdSqr)
{
m_angularVelocity.setValue(0,0,0);
printf("clipped!\n");
}
if (m_linearVelocity.length2() < gClippedLinearThresholdSqr)
{
m_linearVelocity.setValue(0,0,0);
printf("clipped!\n");
}
#endif //EXPERIMENTAL_JITTER_REMOVAL
btTransformUtil::integrateTransform(m_worldTransform,m_linearVelocity,m_angularVelocity,timeStep,predictedTransform);
}
@@ -114,7 +138,10 @@ void btRigidBody::saveKinematicState(btScalar timeStep)
if (getMotionState())
getMotionState()->getWorldTransform(m_worldTransform);
btVector3 linVel,angVel;
btTransformUtil::calculateVelocity(m_interpolationWorldTransform,m_worldTransform,timeStep,m_linearVelocity,m_angularVelocity);
m_interpolationLinearVelocity = m_linearVelocity;
m_interpolationAngularVelocity = m_angularVelocity;
m_interpolationWorldTransform = m_worldTransform;
//printf("angular = %f %f %f\n",m_angularVelocity.getX(),m_angularVelocity.getY(),m_angularVelocity.getZ());
}
@@ -257,6 +284,8 @@ btQuaternion btRigidBody::getOrientation() const
void btRigidBody::setCenterOfMassTransform(const btTransform& xform)
{
m_interpolationWorldTransform = m_worldTransform;
m_interpolationLinearVelocity = getLinearVelocity();
m_interpolationAngularVelocity = getAngularVelocity();
m_worldTransform = xform;
updateInertiaTensor();
}