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add "latency motion state interpolation", using previous frame/current, instead of current->next

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See Demos/ForkLiftDemo for example (F7 to toggle, use single-frame stepping, press 'i' and 's' to see the effect)
This commit is contained in:
erwin.coumans@gmail.com
2013-10-24 00:13:43 +00:00
parent a1c962192c
commit f5320e4106
3 changed files with 56 additions and 25 deletions
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12
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -208,7 +208,9 @@ m_gravity(0,-10,0),
m_localTime(0),
m_synchronizeAllMotionStates(false),
m_applySpeculativeContactRestitution(false),
m_profileTimings(0)
m_profileTimings(0),
m_fixedTimeStep(0),
m_latencyMotionStateInterpolation(true)
{
if (!m_constraintSolver)
@@ -357,7 +359,9 @@ void btDiscreteDynamicsWorld::synchronizeSingleMotionState(btRigidBody* body)
{
btTransform interpolatedTransform;
btTransformUtil::integrateTransform(body->getInterpolationWorldTransform(),
body->getInterpolationLinearVelocity(),body->getInterpolationAngularVelocity(),m_localTime*body->getHitFraction(),interpolatedTransform);
body->getInterpolationLinearVelocity(),body->getInterpolationAngularVelocity(),
(m_latencyMotionStateInterpolation && m_fixedTimeStep) ? m_localTime - m_fixedTimeStep : m_localTime*body->getHitFraction(),
interpolatedTransform);
body->getMotionState()->setWorldTransform(interpolatedTransform);
}
}
@@ -401,6 +405,7 @@ int btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps,
if (maxSubSteps)
{
//fixed timestep with interpolation
m_fixedTimeStep = fixedTimeStep;
m_localTime += timeStep;
if (m_localTime >= fixedTimeStep)
{
@@ -411,7 +416,8 @@ int btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps,
{
//variable timestep
fixedTimeStep = timeStep;
m_localTime = timeStep;
m_localTime = m_latencyMotionStateInterpolation ? 0 : timeStep;
m_fixedTimeStep = 0;
if (btFuzzyZero(timeStep))
{
numSimulationSubSteps = 0;

13
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
View File

@@ -53,6 +53,7 @@ protected:
//for variable timesteps
btScalar m_localTime;
btScalar m_fixedTimeStep;
//for variable timesteps
bool m_ownsIslandManager;
@@ -64,6 +65,8 @@ protected:
int m_profileTimings;
bool m_latencyMotionStateInterpolation;
btAlignedObjectArray<btPersistentManifold*> m_predictiveManifolds;
virtual void predictUnconstraintMotion(btScalar timeStep);
@@ -216,6 +219,16 @@ public:
///Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (see Bullet/Demos/SerializeDemo)
virtual void serialize(btSerializer* serializer);
///Interpolate motion state between previous and current transform, instead of current and next transform.
///This can relieve discontinuities in the rendering, due to penetrations
void setLatencyMotionStateInterpolation(bool latencyInterpolation )
{
m_latencyMotionStateInterpolation = latencyInterpolation;
}
bool getLatencyMotionStateInterpolation() const
{
return m_latencyMotionStateInterpolation;
}
};
#endif //BT_DISCRETE_DYNAMICS_WORLD_H