Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

12
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
View File

@@ -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;