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enabled the vehicle demo again (still needs lots of tuning before it drives well)

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fixed some warnings
This commit is contained in:
ejcoumans
2006-10-29 03:36:16 +00:00
parent caca3a1ca2
commit d6c6cbaee6
16 changed files with 179 additions and 125 deletions
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2
src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
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@@ -66,7 +66,7 @@ class btOverlappingPairCache : public btBroadphaseInterface
inline bool needsBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const
{
bool collides = proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask;
bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
return collides;

2
src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h
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@@ -78,7 +78,7 @@ public:
int getNumManifolds() const
{
return m_manifoldsPtr.size();
return int( m_manifoldsPtr.size());
}
btPersistentManifold** getInternalManifoldPointer()

10
src/BulletCollision/CollisionDispatch/btCollisionObject.h
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@@ -79,26 +79,26 @@ struct btCollisionObject
inline bool mergesSimulationIslands() const
{
///static objects, kinematic and object without contact response don't merge islands
return !(m_collisionFlags & (CF_STATIC_OBJECT | CF_KINEMATIC_OJBECT | CF_NO_CONTACT_RESPONSE) );
return ((m_collisionFlags & (CF_STATIC_OBJECT | CF_KINEMATIC_OJBECT | CF_NO_CONTACT_RESPONSE) )==0);
}
inline bool isStaticObject() const {
return m_collisionFlags & CF_STATIC_OBJECT;
return (m_collisionFlags & CF_STATIC_OBJECT) != 0;
}
inline bool isKinematicObject() const
{
return m_collisionFlags & CF_KINEMATIC_OJBECT;
return (m_collisionFlags & CF_KINEMATIC_OJBECT) != 0;
}
inline bool isStaticOrKinematicObject() const
{
return m_collisionFlags & (CF_KINEMATIC_OJBECT | CF_STATIC_OBJECT);
return (m_collisionFlags & (CF_KINEMATIC_OJBECT | CF_STATIC_OBJECT)) != 0 ;
}
inline bool hasContactResponse() const {
return !(m_collisionFlags & CF_NO_CONTACT_RESPONSE);
return (m_collisionFlags & CF_NO_CONTACT_RESPONSE)==0;
}

2
src/BulletCollision/CollisionDispatch/btCollisionWorld.h
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@@ -205,7 +205,7 @@ public:
int getNumCollisionObjects() const
{
return m_collisionObjects.size();
return int(m_collisionObjects.size());
}
/// rayTest performs a raycast on all objects in the btCollisionWorld, and calls the resultCallback

6
src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
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@@ -1,4 +1,6 @@
#include "LinearMath/btScalar.h"
#include "btSimulationIslandManager.h"
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
@@ -51,7 +53,7 @@ void btSimulationIslandManager::findUnions(btDispatcher* dispatcher)
void btSimulationIslandManager::updateActivationState(btCollisionWorld* colWorld,btDispatcher* dispatcher)
{
initUnionFind(colWorld->getCollisionObjectArray().size());
initUnionFind( int (colWorld->getCollisionObjectArray().size()));
// put the index into m_controllers into m_tag
{
@@ -253,7 +255,7 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
}
}
int numManifolds = islandmanifold.size();
int numManifolds = int (islandmanifold.size());
// Sort manifolds, based on islands
// Sort the vector using predicate and std::sort

2
src/BulletCollision/CollisionDispatch/btUnionFind.h
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@@ -45,7 +45,7 @@ class btUnionFind
inline int getNumElements() const
{
return m_elements.size();
return int(m_elements.size());
}
inline bool isRoot(int x) const
{

2
src/BulletCollision/CollisionShapes/btCompoundShape.h
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@@ -46,7 +46,7 @@ public:
int getNumChildShapes() const
{
return m_childShapes.size();
return int (m_childShapes.size());
}
btCollisionShape* getChildShape(int index)

12
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -390,7 +390,7 @@ void btDiscreteDynamicsWorld::solveNoncontactConstraints(btContactSolverInfo& so
BEGIN_PROFILE("solveNoncontactConstraints");
int i;
int numConstraints = m_constraints.size();
int numConstraints = int(m_constraints.size());
///constraint preparation: building jacobians
for (i=0;i< numConstraints ; i++ )
@@ -424,7 +424,7 @@ void btDiscreteDynamicsWorld::calculateSimulationIslands()
{
int i;
int numConstraints = m_constraints.size();
int numConstraints = int(m_constraints.size());
for (i=0;i< numConstraints ; i++ )
{
btTypedConstraint* constraint = m_constraints[i];
@@ -691,10 +691,10 @@ void btDiscreteDynamicsWorld::debugDrawObject(const btTransform& worldTransform,
float radius = coneShape->getRadius();//+coneShape->getMargin();
float height = coneShape->getHeight();//+coneShape->getMargin();
btVector3 start = worldTransform.getOrigin();
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(0,0,0.5*height),start+worldTransform.getBasis() * btVector3(radius,0,-0.5*height),color);
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(0,0,0.5*height),start+worldTransform.getBasis() * btVector3(-radius,0,-0.5*height),color);
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(0,0,0.5*height),start+worldTransform.getBasis() * btVector3(0,radius,-0.5*height),color);
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(0,0,0.5*height),start+worldTransform.getBasis() * btVector3(0,-radius,-0.5*height),color);
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(0.f,0.f,0.5f*height),start+worldTransform.getBasis() * btVector3(radius,0.f,-0.5f*height),color);
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(0.f,0.f,0.5f*height),start+worldTransform.getBasis() * btVector3(-radius,0.f,-0.5f*height),color);
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(0.f,0.f,0.5f*height),start+worldTransform.getBasis() * btVector3(0.f,radius,-0.5f*height),color);
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(0.f,0.f,0.5f*height),start+worldTransform.getBasis() * btVector3(0.f,-radius,-0.5f*height),color);
break;
}

6
src/BulletDynamics/Dynamics/btDynamicsWorld.h
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@@ -18,6 +18,7 @@ subject to the following restrictions:
#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
class btTypedConstraint;
class btRaycastVehicle;
///btDynamicsWorld is the baseclass for several dynamics implementation, basic, discrete, parallel, and continuous
class btDynamicsWorld : public btCollisionWorld
@@ -47,6 +48,11 @@ class btDynamicsWorld : public btCollisionWorld
virtual void removeConstraint(btTypedConstraint* constraint) {};
virtual void addVehicle(btRaycastVehicle* vehicle) {};
virtual void removeVehicle(btRaycastVehicle* vehicle) {};
virtual void setDebugDrawer(btIDebugDraw* debugDrawer) = 0;
virtual btIDebugDraw* getDebugDrawer() = 0;

38
src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
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@@ -9,11 +9,12 @@
* It is provided "as is" without express or implied warranty.
*/
#include "LinearMath/btVector3.h"
#include "btRaycastVehicle.h"
#include "BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h"
#include "BulletDynamics/ConstraintSolver/btJacobianEntry.h"
#include "LinearMath/btQuaternion.h"
#include "LinearMath/btVector3.h"
#include "BulletDynamics/Dynamics/btDynamicsWorld.h"
#include "btVehicleRaycaster.h"
#include "btWheelInfo.h"
@@ -141,8 +142,12 @@ void btRaycastVehicle::updateWheelTransformsWS(btWheelInfo& wheel )
{
wheel.m_raycastInfo.m_isInContact = false;
const btTransform& chassisTrans = getRigidBody()->getCenterOfMassTransform();
btTransform chassisTrans;
if (getRigidBody()->getMotionState())
getRigidBody()->getMotionState()->getWorldTransform(chassisTrans);
else
chassisTrans = getRigidBody()->getCenterOfMassTransform();
wheel.m_raycastInfo.m_hardPointWS = chassisTrans( wheel.m_chassisConnectionPointCS );
wheel.m_raycastInfo.m_wheelDirectionWS = chassisTrans.getBasis() * wheel.m_wheelDirectionCS ;
wheel.m_raycastInfo.m_wheelAxleWS = chassisTrans.getBasis() * wheel.m_wheelAxleCS;
@@ -166,6 +171,8 @@ btScalar btRaycastVehicle::rayCast(btWheelInfo& wheel)
btVehicleRaycaster::btVehicleRaycasterResult rayResults;
assert(m_vehicleRaycaster);
void* object = m_vehicleRaycaster->castRay(source,target,rayResults);
wheel.m_raycastInfo.m_groundObject = 0;
@@ -593,3 +600,28 @@ void btRaycastVehicle::updateFriction(btScalar timeStep)
delete[]forwardImpulse;
delete[] sideImpulse;
}
void* btDefaultVehicleRaycaster::castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result)
{
// RayResultCallback& resultCallback;
btCollisionWorld::ClosestRayResultCallback rayCallback(from,to);
m_dynamicsWorld->rayTest(from, to, rayCallback);
if (rayCallback.HasHit())
{
btRigidBody* body = btRigidBody::upcast(rayCallback.m_collisionObject);
if (body)
{
result.m_hitPointInWorld = rayCallback.m_hitPointWorld;
result.m_hitNormalInWorld = rayCallback.m_hitNormalWorld;
result.m_hitNormalInWorld.normalize();
result.m_distFraction = rayCallback.m_closestHitFraction;
return body;
}
}
return 0;
}

20
src/BulletDynamics/Vehicle/btRaycastVehicle.h
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@@ -13,11 +13,11 @@
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
#include "btVehicleRaycaster.h"
class btDynamicsWorld;
#include "btWheelInfo.h"
struct btVehicleRaycaster;
class btVehicleTuning;
///rayCast vehicle, very special constraint that turn a rigidbody into a vehicle.
@@ -93,7 +93,7 @@ public:
btWheelInfo& addWheel( const btVector3& connectionPointCS0, const btVector3& wheelDirectionCS0,const btVector3& wheelAxleCS,btScalar suspensionRestLength,btScalar wheelRadius,const btVehicleTuning& tuning, bool isFrontWheel);
inline int getNumWheels() const {
return m_wheelInfo.size();
return int (m_wheelInfo.size());
}
std::vector<btWheelInfo> m_wheelInfo;
@@ -163,5 +163,19 @@ public:
};
class btDefaultVehicleRaycaster : public btVehicleRaycaster
{
btDynamicsWorld* m_dynamicsWorld;
public:
btDefaultVehicleRaycaster(btDynamicsWorld* world)
:m_dynamicsWorld(world)
{
}
virtual void* castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result);
};
#endif //RAYCASTVEHICLE_H

2
src/LinearMath/btDefaultMotionState.h
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@@ -9,7 +9,7 @@ struct btDefaultMotionState : public btMotionState
btTransform m_startWorldTrans;
void* m_userPointer;
btDefaultMotionState(const btTransform& startTrans,const btTransform& centerOfMassOffset = btTransform::getIdentity())
btDefaultMotionState(const btTransform& startTrans = btTransform::getIdentity(),const btTransform& centerOfMassOffset = btTransform::getIdentity())
: m_graphicsWorldTrans(startTrans),
m_centerOfMassOffset(centerOfMassOffset),
m_startWorldTrans(startTrans),

7
src/btBulletCollisionCommon.h
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@@ -49,11 +49,12 @@ subject to the following restrictions:
#include "BulletCollision/BroadphaseCollision/btAxisSweep3.h"
///Math library
///Math library & Utils
#include "LinearMath/btQuaternion.h"
#include "LinearMath/btTransform.h"
#include "LinearMath/btDefaultMotionState.h"
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btIDebugDraw.h"
#endif //BULLET_COLLISION_COMMON_H

3
src/btBulletDynamicsCommon.h
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@@ -34,5 +34,8 @@ subject to the following restrictions:
#endif //BULLET_DYNAMICS_COMMON_H