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remove that odd triangle in the origin of samurai castle (VR)

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add rolling/spinning friction to cube, remove it from plane/samurai.urdf
URDF2Bullet: support joint limits for revolute and prismatic, only if defined (if upper < lower, disable limit)
add some profiling markers to improve performance
This commit is contained in:
erwin coumans
2016-09-19 07:02:43 -07:00
parent 48d42c7c6e
commit db3122233f
23 changed files with 297 additions and 113 deletions
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4
src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp
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@@ -372,10 +372,10 @@ void* btHashedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* pro
return userData;
}
//#include <stdio.h>
#include "LinearMath/btQuickprof.h"
void btHashedOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback* callback,btDispatcher* dispatcher)
{
BT_PROFILE("btHashedOverlappingPairCache::processAllOverlappingPairs");
int i;
// printf("m_overlappingPairArray.size()=%d\n",m_overlappingPairArray.size());

5
src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
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@@ -16,7 +16,7 @@ subject to the following restrictions:
#include "btCollisionDispatcher.h"
#include "LinearMath/btQuickprof.h"
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
@@ -227,6 +227,8 @@ public:
virtual bool processOverlap(btBroadphasePair& pair)
{
BT_PROFILE("btCollisionDispatcher::processOverlap");
(*m_dispatcher->getNearCallback())(pair,*m_dispatcher,m_dispatchInfo);
return false;
@@ -249,7 +251,6 @@ void btCollisionDispatcher::dispatchAllCollisionPairs(btOverlappingPairCache* pa
//by default, Bullet will use this near callback
void btCollisionDispatcher::defaultNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo)
{

2
src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp
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@@ -15,6 +15,7 @@ subject to the following restrictions:
*/
#include "btCompoundCompoundCollisionAlgorithm.h"
#include "LinearMath/btQuickprof.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
#include "BulletCollision/BroadphaseCollision/btDbvt.h"
@@ -124,6 +125,7 @@ struct btCompoundCompoundLeafCallback : btDbvt::ICollide
void Process(const btDbvtNode* leaf0,const btDbvtNode* leaf1)
{
BT_PROFILE("btCompoundCompoundLeafCallback::Process");
m_numOverlapPairs++;

5
src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
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@@ -15,6 +15,7 @@ subject to the following restrictions:
#include "btConvexConcaveCollisionAlgorithm.h"
#include "LinearMath/btQuickprof.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
@@ -79,6 +80,7 @@ void btConvexTriangleCallback::clearCache()
void btConvexTriangleCallback::processTriangle(btVector3* triangle,int
partId, int triangleIndex)
{
BT_PROFILE("btConvexTriangleCallback::processTriangle");
if (!TestTriangleAgainstAabb2(triangle, m_aabbMin, m_aabbMax))
{
@@ -184,7 +186,7 @@ void btConvexConcaveCollisionAlgorithm::clearCache()
void btConvexConcaveCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
BT_PROFILE("btConvexConcaveCollisionAlgorithm::processCollision");
const btCollisionObjectWrapper* convexBodyWrap = m_isSwapped ? body1Wrap : body0Wrap;
const btCollisionObjectWrapper* triBodyWrap = m_isSwapped ? body0Wrap : body1Wrap;
@@ -265,6 +267,7 @@ btScalar btConvexConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObj
virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
{
BT_PROFILE("processTriangle");
(void)partId;
(void)triangleIndex;
//do a swept sphere for now

9
src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp
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@@ -245,16 +245,18 @@ void btBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,co
btStridingMeshInterface* m_meshInterface;
btTriangleCallback* m_callback;
btVector3 m_triangle[3];
int m_numOverlap;
MyNodeOverlapCallback(btTriangleCallback* callback,btStridingMeshInterface* meshInterface)
:m_meshInterface(meshInterface),
m_callback(callback)
m_callback(callback),
m_numOverlap(0)
{
}
virtual void processNode(int nodeSubPart, int nodeTriangleIndex)
{
m_numOverlap++;
const unsigned char *vertexbase;
int numverts;
PHY_ScalarType type;
@@ -321,8 +323,7 @@ void btBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,co
MyNodeOverlapCallback myNodeCallback(callback,m_meshInterface);
m_bvh->reportAabbOverlappingNodex(&myNodeCallback,aabbMin,aabbMax);
#endif//DISABLE_BVH