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some more improvements to support basic CCD motion clamping

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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
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18
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -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);
}
}