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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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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);