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more refactoring, removed PhysicsInterface, cleaned up demos to make use of btDynamicsWorld derived classes.

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removed two cached optimizations, type in btTransform and cached inverse transform (todo: test performance impact)
committed fixes that make the code adhere to 'who creates it, also destroys it'
This commit is contained in:
ejcoumans
2006-09-30 01:36:39 +00:00
parent 14397a2f72
commit d38549aa54
37 changed files with 317 additions and 995 deletions
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3
src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
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@@ -25,8 +25,7 @@ btCollisionObject::btCollisionObject()
m_ccdSweptShereRadius(0.f),
m_ccdSquareMotionTreshold(0.f)
{
m_cachedInvertedWorldTransform.setIdentity();
}

2
src/BulletCollision/CollisionDispatch/btCollisionObject.h
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@@ -41,8 +41,6 @@ struct btCollisionObject
//it can be either previous or future (predicted) transform
btTransform m_interpolationWorldTransform;
btTransform m_cachedInvertedWorldTransform;
enum CollisionFlags
{
isStatic = 1,

1
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -123,7 +123,6 @@ void btCollisionWorld::performDiscreteCollisionDetection()
btVector3 aabbMin,aabbMax;
for (size_t i=0;i<m_collisionObjects.size();i++)
{
m_collisionObjects[i]->m_cachedInvertedWorldTransform = m_collisionObjects[i]->m_worldTransform.inverse();
m_collisionObjects[i]->m_collisionShape->getAabb(m_collisionObjects[i]->m_worldTransform,aabbMin,aabbMax);
m_broadphasePairCache->setAabb(m_collisionObjects[i]->m_broadphaseHandle,aabbMin,aabbMax);
}

10
src/BulletCollision/CollisionDispatch/btCollisionWorld.h
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@@ -133,7 +133,7 @@ public:
struct LocalRayResult
{
LocalRayResult(const btCollisionObject* collisionObject,
LocalRayResult(btCollisionObject* collisionObject,
LocalShapeInfo* localShapeInfo,
const btVector3& hitNormalLocal,
float hitFraction)
@@ -144,7 +144,7 @@ public:
{
}
const btCollisionObject* m_collisionObject;
btCollisionObject* m_collisionObject;
LocalShapeInfo* m_localShapeInfo;
const btVector3& m_hitNormalLocal;
float m_hitFraction;
@@ -167,7 +167,7 @@ public:
:m_closestHitFraction(1.f)
{
}
virtual float AddSingleResult(const LocalRayResult& rayResult) = 0;
virtual float AddSingleResult(LocalRayResult& rayResult) = 0;
};
struct ClosestRayResultCallback : public RayResultCallback
@@ -184,9 +184,9 @@ public:
btVector3 m_hitNormalWorld;
btVector3 m_hitPointWorld;
const btCollisionObject* m_collisionObject;
btCollisionObject* m_collisionObject;
virtual float AddSingleResult(const LocalRayResult& rayResult)
virtual float AddSingleResult(LocalRayResult& rayResult)
{
//caller already does the filter on the m_closestHitFraction

5
src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
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@@ -217,8 +217,9 @@ float btConvexConcaveCollisionAlgorithm::calculateTimeOfImpact(btBroadphaseProxy
//btVector3 to = convexbody->m_interpolationWorldTransform.getOrigin();
//todo: only do if the motion exceeds the 'radius'
btTransform convexFromLocal = triBody->m_cachedInvertedWorldTransform * convexbody->m_worldTransform;
btTransform convexToLocal = triBody->m_cachedInvertedWorldTransform * convexbody->m_interpolationWorldTransform;
btTransform worldToLocalTrimesh = triBody->m_worldTransform.inverse();
btTransform convexFromLocal = worldToLocalTrimesh * convexbody->m_worldTransform;
btTransform convexToLocal = worldToLocalTrimesh * convexbody->m_interpolationWorldTransform;
struct LocalTriangleSphereCastCallback : public btTriangleCallback
{

4
src/BulletCollision/CollisionDispatch/btManifoldResult.cpp
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@@ -57,8 +57,8 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
return;
btTransform transAInv = m_body0->m_cachedInvertedWorldTransform;
btTransform transBInv= m_body1->m_cachedInvertedWorldTransform;
btTransform transAInv = m_body0->m_worldTransform.inverse();
btTransform transBInv= m_body1->m_worldTransform.inverse();
//transAInv = m_body0->m_worldTransform.inverse();
//transBInv= m_body1->m_worldTransform.inverse();

2
src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp
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@@ -148,14 +148,12 @@ btVector3 btConvexTriangleMeshShape::localGetSupportingVertex(const btVector3& v
int btConvexTriangleMeshShape::getNumVertices() const
{
//cache this?
assert(0);
return 0;
}
int btConvexTriangleMeshShape::getNumEdges() const
{
assert(0);
return 0;
}

4
src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h
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@@ -13,6 +13,9 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_TRIANGLE_INDEX_VERTEX_ARRAY_H
#define BT_TRIANGLE_INDEX_VERTEX_ARRAY_H
#include "btStridingMeshInterface.h"
#include <vector>
@@ -76,3 +79,4 @@ public:
};
#endif //BT_TRIANGLE_INDEX_VERTEX_ARRAY_H

71
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -16,6 +16,7 @@ subject to the following restrictions:
#include "btDiscreteDynamicsWorld.h"
//collision detection
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
@@ -32,12 +33,14 @@ subject to the following restrictions:
#include "BulletDynamics/Vehicle/btRaycastVehicle.h"
#include "BulletDynamics/Vehicle/btVehicleRaycaster.h"
#include "BulletDynamics/Vehicle/btWheelInfo.h"
#include "LinearMath/btIDebugDraw.h"
#include <algorithm>
btDiscreteDynamicsWorld::btDiscreteDynamicsWorld()
:btDynamicsWorld(),
m_constraintSolver(new btSequentialImpulseConstraintSolver)
m_constraintSolver(new btSequentialImpulseConstraintSolver),
m_debugDrawer(0)
{
m_islandManager = new btSimulationIslandManager();
m_ownsIslandManager = true;
@@ -47,11 +50,12 @@ m_constraintSolver(new btSequentialImpulseConstraintSolver)
btDiscreteDynamicsWorld::btDiscreteDynamicsWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache,btConstraintSolver* constraintSolver)
:btDynamicsWorld(dispatcher,pairCache),
m_constraintSolver(constraintSolver)
m_constraintSolver(constraintSolver? constraintSolver: new btSequentialImpulseConstraintSolver),
m_debugDrawer(0)
{
m_islandManager = new btSimulationIslandManager();
m_ownsIslandManager = true;
m_ownsConstraintSolver = false;
m_ownsConstraintSolver = (constraintSolver==0);
}
@@ -114,10 +118,9 @@ void btDiscreteDynamicsWorld::updateActivationState(float timeStep)
for (int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
if (colObj->m_internalOwner)
btRigidBody* body = btRigidBody::upcast(colObj);
if (body)
{
btRigidBody* body = (btRigidBody*)colObj->m_internalOwner;
body->updateDeactivation(timeStep);
if (body->wantsSleeping())
@@ -190,8 +193,8 @@ void btDiscreteDynamicsWorld::solveContactConstraints(btContactSolverInfo& solve
};
btIDebugDraw* debugDraw = 0;
InplaceSolverIslandCallback solverCallback( solverInfo, m_constraintSolver, debugDraw);
InplaceSolverIslandCallback solverCallback( solverInfo, m_constraintSolver, m_debugDrawer);
/// solve all the contact points and contact friction
@@ -277,23 +280,60 @@ void btDiscreteDynamicsWorld::calculateSimulationIslands()
Profiler::endBlock("IslandUnionFind");
#endif //USE_QUICKPROF
}
static void DrawAabb(btIDebugDraw* debugDrawer,const btVector3& from,const btVector3& to,const btVector3& color)
{
btVector3 halfExtents = (to-from)* 0.5f;
btVector3 center = (to+from) *0.5f;
int i,j;
btVector3 edgecoord(1.f,1.f,1.f),pa,pb;
for (i=0;i<4;i++)
{
for (j=0;j<3;j++)
{
pa = btVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1],
edgecoord[2]*halfExtents[2]);
pa+=center;
int othercoord = j%3;
edgecoord[othercoord]*=-1.f;
pb = btVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1],
edgecoord[2]*halfExtents[2]);
pb+=center;
debugDrawer->drawLine(pa,pb,color);
}
edgecoord = btVector3(-1.f,-1.f,-1.f);
if (i<3)
edgecoord[i]*=-1.f;
}
}
void btDiscreteDynamicsWorld::updateAabbs()
{
btVector3 colorvec(1,0,0);
btTransform predictedTrans;
for (int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
if (colObj->m_internalOwner)
btRigidBody* body = btRigidBody::upcast(colObj);
if (body)
{
btRigidBody* body = (btRigidBody*)colObj->m_internalOwner;
if (body->IsActive() && (!body->IsStatic()))
// if (body->IsActive() && (!body->IsStatic()))
{
btPoint3 minAabb,maxAabb;
colObj->m_collisionShape->getAabb(colObj->m_worldTransform, minAabb,maxAabb);
btSimpleBroadphase* bp = (btSimpleBroadphase*)m_broadphasePairCache;
bp->setAabb(body->m_broadphaseHandle,minAabb,maxAabb);
if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
{
DrawAabb(m_debugDrawer,minAabb,maxAabb,colorvec);
}
}
}
}
@@ -305,9 +345,9 @@ void btDiscreteDynamicsWorld::integrateTransforms(float timeStep)
for (int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
if (colObj->m_internalOwner)
btRigidBody* body = btRigidBody::upcast(colObj);
if (body)
{
btRigidBody* body = (btRigidBody*)colObj->m_internalOwner;
if (body->IsActive() && (!body->IsStatic()))
{
body->predictIntegratedTransform(timeStep, predictedTrans);
@@ -324,10 +364,9 @@ void btDiscreteDynamicsWorld::predictUnconstraintMotion(float timeStep)
for (int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
if (colObj->m_internalOwner)
btRigidBody* body = btRigidBody::upcast(colObj);
if (body)
{
btRigidBody* body = (btRigidBody*)colObj->m_internalOwner;
body->m_cachedInvertedWorldTransform = body->m_worldTransform.inverse();
if (body->IsActive() && (!body->IsStatic()))
{
body->applyForces( timeStep);

19
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
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@@ -25,6 +25,7 @@ class btSimulationIslandManager;
class btTypedConstraint;
struct btContactSolverInfo;
class btRaycastVehicle;
class btIDebugDraw;
#include <vector>
@@ -40,6 +41,8 @@ protected:
std::vector<btTypedConstraint*> m_constraints;
btIDebugDraw* m_debugDrawer;
bool m_ownsIslandManager;
bool m_ownsConstraintSolver;
@@ -49,8 +52,6 @@ protected:
void integrateTransforms(float timeStep);
void updateAabbs();
void calculateSimulationIslands();
void solveNoncontactConstraints(btContactSolverInfo& solverInfo);
@@ -65,7 +66,7 @@ public:
///this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those
btDiscreteDynamicsWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache,btConstraintSolver* constraintSolver);
btDiscreteDynamicsWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache,btConstraintSolver* constraintSolver=0);
///this btDiscreteDynamicsWorld will create and own dispatcher, pairCache and constraintSolver, and deletes it in the destructor.
btDiscreteDynamicsWorld();
@@ -74,6 +75,8 @@ public:
virtual void stepSimulation( float timeStep);
virtual void updateAabbs();
void addConstraint(btTypedConstraint* constraint);
void removeConstraint(btTypedConstraint* constraint);
@@ -97,6 +100,16 @@ public:
return this;
}
virtual void setDebugDrawer(btIDebugDraw* debugDrawer)
{
m_debugDrawer = debugDrawer;
}
virtual btIDebugDraw* getDebugDrawer()
{
return m_debugDrawer;
}
};
#endif //BT_DISCRETE_DYNAMICS_WORLD_H

7
src/BulletDynamics/Dynamics/btDynamicsWorld.h
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@@ -40,11 +40,16 @@ class btDynamicsWorld : public btCollisionWorld
///stepSimulation proceeds the simulation over timeStep units
virtual void stepSimulation( float timeStep) = 0;
virtual void updateAabbs() = 0;
virtual void addConstraint(btTypedConstraint* constraint) {};
virtual void removeConstraint(btTypedConstraint* constraint) {};
virtual void setDebugDrawer(btIDebugDraw* debugDrawer) = 0;
virtual btIDebugDraw* getDebugDrawer() = 0;
};
#endif //BT_DYNAMICS_WORLD_H

3
src/BulletDynamics/Dynamics/btRigidBody.cpp
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@@ -48,6 +48,9 @@ btRigidBody::btRigidBody( const btMassProps& massProps,btScalar linearDamping,bt
m_debugBodyId = uniqueId++;
//m_internalOwner is to allow upcasting from collision object to rigid body
m_internalOwner = this;
setMassProps(massProps.m_mass, massProps.m_inertiaLocal);
setDamping(linearDamping, angularDamping);
m_worldTransform.setIdentity();

10
src/BulletDynamics/Dynamics/btRigidBody.h
View File

@@ -65,6 +65,16 @@ public:
void proceedToTransform(const btTransform& newTrans);
///to keep collision detection and dynamics separate we don't store a rigidbody pointer
///but a rigidbody is derived from btCollisionObject, so we can safely perform an upcast
static const btRigidBody* upcast(const btCollisionObject* colObj)
{
return (const btRigidBody*)colObj->m_internalOwner;
}
static btRigidBody* upcast(btCollisionObject* colObj)
{
return (btRigidBody*)colObj->m_internalOwner;
}
/// continuous collision detection needs prediction
void predictIntegratedTransform(btScalar step, btTransform& predictedTransform) const;

23
src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
View File

@@ -24,14 +24,16 @@ subject to the following restrictions:
btSimpleDynamicsWorld::btSimpleDynamicsWorld()
:m_constraintSolver(new btSequentialImpulseConstraintSolver),
m_ownsConstraintSolver(true)
m_ownsConstraintSolver(true),
m_debugDrawer(0)
{
}
btSimpleDynamicsWorld::btSimpleDynamicsWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache,btConstraintSolver* constraintSolver)
:btDynamicsWorld(dispatcher,pairCache),
m_constraintSolver(constraintSolver),
m_ownsConstraintSolver(false)
m_ownsConstraintSolver(false),
m_debugDrawer(0)
{
}
@@ -56,8 +58,8 @@ void btSimpleDynamicsWorld::stepSimulation(float timeStep)
int numManifolds = m_dispatcher1->getNumManifolds();
btContactSolverInfo infoGlobal;
infoGlobal.m_timeStep = timeStep;
btIDebugDraw* debugDrawer=0;
m_constraintSolver->solveGroup(manifoldPtr, numManifolds,infoGlobal,debugDrawer);
m_constraintSolver->solveGroup(manifoldPtr, numManifolds,infoGlobal,m_debugDrawer);
///integrate transforms
integrateTransforms(timeStep);
@@ -74,9 +76,9 @@ void btSimpleDynamicsWorld::updateAabbs()
for (int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
if (colObj->m_internalOwner)
btRigidBody* body = btRigidBody::upcast(colObj);
if (body)
{
btRigidBody* body = (btRigidBody*)colObj->m_internalOwner;
if (body->IsActive() && (!body->IsStatic()))
{
btPoint3 minAabb,maxAabb;
@@ -94,9 +96,9 @@ void btSimpleDynamicsWorld::integrateTransforms(float timeStep)
for (int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
if (colObj->m_internalOwner)
btRigidBody* body = btRigidBody::upcast(colObj);
if (body)
{
btRigidBody* body = (btRigidBody*)colObj->m_internalOwner;
if (body->IsActive() && (!body->IsStatic()))
{
body->predictIntegratedTransform(timeStep, predictedTrans);
@@ -113,10 +115,9 @@ void btSimpleDynamicsWorld::predictUnconstraintMotion(float timeStep)
for (int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
if (colObj->m_internalOwner)
btRigidBody* body = btRigidBody::upcast(colObj);
if (body)
{
btRigidBody* body = (btRigidBody*)colObj->m_internalOwner;
body->m_cachedInvertedWorldTransform = body->m_worldTransform.inverse();
if (body->IsActive() && (!body->IsStatic()))
{
body->applyForces( timeStep);

16
src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h
View File

@@ -35,12 +35,13 @@ protected:
bool m_ownsConstraintSolver;
btIDebugDraw* m_debugDrawer;
void predictUnconstraintMotion(float timeStep);
void integrateTransforms(float timeStep);
void updateAabbs();
public:
@@ -54,6 +55,17 @@ public:
virtual void stepSimulation( float timeStep);
virtual void setDebugDrawer(btIDebugDraw* debugDrawer)
{
m_debugDrawer = debugDrawer;
};
virtual btIDebugDraw* getDebugDrawer()
{
return m_debugDrawer;
}
virtual void updateAabbs();
};
#endif //BT_SIMPLE_DYNAMICS_WORLD_H

56
src/LinearMath/btTransform.h
View File

@@ -41,37 +41,26 @@ public:
explicit SIMD_FORCE_INLINE btTransform(const btQuaternion& q,
const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0)))
: m_basis(q),
m_origin(c),
m_type(RIGID)
m_origin(c)
{}
explicit SIMD_FORCE_INLINE btTransform(const btMatrix3x3& b,
const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0)),
unsigned int type = AFFINE)
: m_basis(b),
m_origin(c),
m_type(type)
m_origin(c)
{}
SIMD_FORCE_INLINE void mult(const btTransform& t1, const btTransform& t2) {
m_basis = t1.m_basis * t2.m_basis;
m_origin = t1(t2.m_origin);
m_type = t1.m_type | t2.m_type;
}
void multInverseLeft(const btTransform& t1, const btTransform& t2) {
btVector3 v = t2.m_origin - t1.m_origin;
if (t1.m_type & SCALING) {
btMatrix3x3 inv = t1.m_basis.inverse();
m_basis = inv * t2.m_basis;
m_origin = inv * v;
}
else {
m_basis = btMultTransposeLeft(t1.m_basis, t2.m_basis);
m_origin = v * t1.m_basis;
}
m_type = t1.m_type | t2.m_type;
m_basis = btMultTransposeLeft(t1.m_basis, t2.m_basis);
m_origin = v * t1.m_basis;
}
SIMD_FORCE_INLINE btVector3 operator()(const btVector3& x) const
@@ -102,7 +91,6 @@ public:
{
m_basis.setValue(m);
m_origin.setValue(&m[12]);
m_type = AFFINE;
}
@@ -126,7 +114,6 @@ public:
SIMD_FORCE_INLINE void setOrigin(const btVector3& origin)
{
m_origin = origin;
m_type |= TRANSLATION;
}
SIMD_FORCE_INLINE btVector3 invXform(const btVector3& inVec) const;
@@ -136,50 +123,36 @@ public:
SIMD_FORCE_INLINE void setBasis(const btMatrix3x3& basis)
{
m_basis = basis;
m_type |= LINEAR;
}
SIMD_FORCE_INLINE void setRotation(const btQuaternion& q)
{
m_basis.setRotation(q);
m_type = (m_type & ~LINEAR) | ROTATION;
}
SIMD_FORCE_INLINE void scale(const btVector3& scaling)
{
m_basis = m_basis.scaled(scaling);
m_type |= SCALING;
}
void setIdentity()
{
m_basis.setIdentity();
m_origin.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
m_type = 0x0;
}
SIMD_FORCE_INLINE bool isIdentity() const { return m_type == 0x0; }
btTransform& operator*=(const btTransform& t)
{
m_origin += m_basis * t.m_origin;
m_basis *= t.m_basis;
m_type |= t.m_type;
return *this;
}
btTransform inverse() const
{
if (m_type)
{
btMatrix3x3 inv = (m_type & SCALING) ?
m_basis.inverse() :
m_basis.transpose();
return btTransform(inv, inv * -m_origin, m_type);
}
return *this;
btMatrix3x3 inv = m_basis.transpose();
return btTransform(inv, inv * -m_origin);
}
btTransform inverseTimes(const btTransform& t) const;
@@ -190,7 +163,6 @@ private:
btMatrix3x3 m_basis;
btVector3 m_origin;
unsigned int m_type;
};
@@ -205,25 +177,15 @@ SIMD_FORCE_INLINE btTransform
btTransform::inverseTimes(const btTransform& t) const
{
btVector3 v = t.getOrigin() - m_origin;
if (m_type & SCALING)
{
btMatrix3x3 inv = m_basis.inverse();
return btTransform(inv * t.getBasis(), inv * v,
m_type | t.m_type);
}
else
{
return btTransform(m_basis.transposeTimes(t.m_basis),
v * m_basis, m_type | t.m_type);
}
v * m_basis);
}
SIMD_FORCE_INLINE btTransform
btTransform::operator*(const btTransform& t) const
{
return btTransform(m_basis * t.m_basis,
(*this)(t.m_origin),
m_type | t.m_type);
(*this)(t.m_origin));
}

2
src/btBulletDynamicsCommon.h
View File

@@ -24,6 +24,8 @@ subject to the following restrictions:
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"
#include "BulletDynamics/ConstraintSolver/btHingeConstraint.h"
#include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h"
#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
///Vehicle simulation, with wheel contact simulated by raycasts
#include "BulletDynamics/Vehicle/btRaycastVehicle.h"