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

some more improvements to support basic CCD motion clamping

Browse Source
This commit is contained in:
erwin.coumans
2008-09-11 23:50:50 +00:00
parent 8ffbb21d48
commit fae48b5c25
5 changed files with 27 additions and 16 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
View File

@@ -556,7 +556,7 @@ int maxNumOutstandingTasks = 4;
// Only do CCD if motion in one timestep (1.f/60.f) exceeds CUBE_HALF_EXTENTS
body->setCcdSquareMotionThreshold( CUBE_HALF_EXTENTS );
body->setCcdMotionThreshold( CUBE_HALF_EXTENTS );
//Experimental: better estimation of CCD Time of Impact:
body->setCcdSweptSphereRadius( 0.2*CUBE_HALF_EXTENTS );

2
src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
View File

@@ -31,7 +31,7 @@ btCollisionObject::btCollisionObject()
m_internalType(CO_COLLISION_OBJECT),
m_hitFraction(btScalar(1.)),
m_ccdSweptSphereRadius(btScalar(0.)),
m_ccdSquareMotionThreshold(btScalar(0.)),
m_ccdMotionThreshold(btScalar(0.)),
m_checkCollideWith(false)
{

18
src/BulletCollision/CollisionDispatch/btCollisionObject.h
View File

@@ -81,8 +81,8 @@ protected:
///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
btScalar m_ccdSweptSphereRadius;
/// Don't do continuous collision detection if square motion (in one step) is less then m_ccdSquareMotionThreshold
btScalar m_ccdSquareMotionThreshold;
/// Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold
btScalar m_ccdMotionThreshold;
/// If some object should have elaborate collision filtering by sub-classes
bool m_checkCollideWith;
@@ -332,16 +332,22 @@ public:
m_ccdSweptSphereRadius = radius;
}
btScalar getCcdMotionThreshold() const
{
return m_ccdMotionThreshold;
}
btScalar getCcdSquareMotionThreshold() const
{
return m_ccdSquareMotionThreshold;
return m_ccdMotionThreshold*m_ccdMotionThreshold;
}
/// Don't do continuous collision detection if square motion (in one step) is less then m_ccdSquareMotionThreshold
void setCcdSquareMotionThreshold(btScalar ccdSquareMotionThreshold)
/// Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold
void setCcdMotionThreshold(btScalar ccdMotionThreshold)
{
m_ccdSquareMotionThreshold = ccdSquareMotionThreshold;
m_ccdMotionThreshold = ccdMotionThreshold*ccdMotionThreshold;
}
///users can point to their objects, userPointer is not used by Bullet

3
src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h
View File

@@ -51,7 +51,8 @@ public:
int i;
for (i=0;i<m_childCollisionAlgorithms.size();i++)
{
m_childCollisionAlgorithms[i]->getAllContactManifolds(manifoldArray);
if (m_childCollisionAlgorithms[i])
m_childCollisionAlgorithms[i]->getAllContactManifolds(manifoldArray);
}
}

18
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
View File

@@ -269,7 +269,7 @@ void btDiscreteDynamicsWorld::synchronizeMotionStates()
{
btTransform interpolatedTransform;
btTransformUtil::integrateTransform(body->getInterpolationWorldTransform(),
body->getInterpolationLinearVelocity(),body->getInterpolationAngularVelocity(),m_localTime,interpolatedTransform);
body->getInterpolationLinearVelocity(),body->getInterpolationAngularVelocity(),m_localTime*body->getHitFraction(),interpolatedTransform);
body->getMotionState()->setWorldTransform(interpolatedTransform);
}
}
@@ -790,30 +790,34 @@ void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
btRigidBody* body = btRigidBody::upcast(colObj);
if (body)
{
body->setHitFraction(1.f);
if (body->isActive() && (!body->isStaticOrKinematicObject()))
{
btScalar fraction = 1.f;
btScalar squareVel = body->getLinearVelocity().length2();
body->predictIntegratedTransform(timeStep, predictedTrans);
btScalar squareMotion = (predictedTrans.getOrigin()-body->getWorldTransform().getOrigin()).length2();
if (body->getCcdSquareMotionThreshold() && body->getCcdSquareMotionThreshold() < squareVel)
if (body->getCcdSquareMotionThreshold() && body->getCcdSquareMotionThreshold() < squareMotion)
{
BT_PROFILE("CCD motion clamping");
if (body->getCollisionShape()->isConvex())
{
gNumClampedCcdMotions++;
body->predictIntegratedTransform(timeStep, predictedTrans);
btClosestNotMeConvexResultCallback sweepResults(body,body->getWorldTransform().getOrigin(),predictedTrans.getOrigin(),getBroadphase()->getOverlappingPairCache());
btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
btSphereShape tmpSphere(body->getCcdSweptSphereRadius());//btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
convexSweepTest(&tmpSphere,body->getWorldTransform(),predictedTrans,sweepResults);
if (sweepResults.hasHit() && (sweepResults.m_closestHitFraction < 1.f))
{
fraction = sweepResults.m_closestHitFraction;
body->setHitFraction(sweepResults.m_closestHitFraction);
body->predictIntegratedTransform(timeStep*body->getHitFraction(), predictedTrans);
body->setHitFraction(0.f);
// printf("clamped integration to hit fraction = %f\n",fraction);
}
}
}
body->predictIntegratedTransform(timeStep*fraction, predictedTrans);
body->proceedToTransform( predictedTrans);
}
}