diff options
author | Erwin Coumans <blender@erwincoumans.com> | 2006-04-26 07:20:28 +0400 |
---|---|---|
committer | Erwin Coumans <blender@erwincoumans.com> | 2006-04-26 07:20:28 +0400 |
commit | 45d0123a591adc11925396ff915642c2d88b61e7 (patch) | |
tree | a2c7cb00d0bcc67996cab59a2306b8d6da4c92de /extern | |
parent | 94dd1085e3db245601c6e0f09a128d39560e3bed (diff) |
fixed several internal Bullet rigidbody dynamics bugs:
- broadphase had bugs in removing objects,
- persistent manifold renamed value,
- cylinder penetration depth fixed,
- memory leak for persistent manifold
Diffstat (limited to 'extern')
20 files changed, 123 insertions, 79 deletions
diff --git a/extern/bullet/Bullet/BroadphaseCollision/AxisSweep3.cpp b/extern/bullet/Bullet/BroadphaseCollision/AxisSweep3.cpp index f86ad9a7698..25abf92aea0 100644 --- a/extern/bullet/Bullet/BroadphaseCollision/AxisSweep3.cpp +++ b/extern/bullet/Bullet/BroadphaseCollision/AxisSweep3.cpp @@ -125,9 +125,10 @@ void AxisSweep3::Quantize(unsigned short* out, const SimdPoint3& point, int isMa clampedPoint.setMin(m_worldAabbMax); SimdVector3 v = (clampedPoint - m_worldAabbMin) * m_quantize; - out[0] = (unsigned short)(((int)v.getX() & 0xfffe) | isMax); - out[1] = (unsigned short)(((int)v.getY() & 0xfffe) | isMax); - out[2] = (unsigned short)(((int)v.getZ() & 0xfffe) | isMax); + out[0] = (unsigned short)(((int)v.getX() & 0xfffc) | isMax); + out[1] = (unsigned short)(((int)v.getY() & 0xfffc) | isMax); + out[2] = (unsigned short)(((int)v.getZ() & 0xfffc) | isMax); + } @@ -164,7 +165,11 @@ unsigned short AxisSweep3::AddHandle(const SimdPoint3& aabbMin,const SimdPoint3& // allocate a handle unsigned short handle = AllocHandle(); + assert(handle!= 0xcdcd); + Handle* pHandle = GetHandle(handle); + + pHandle->m_handleId = handle; //pHandle->m_pOverlaps = 0; pHandle->m_clientObject = pOwner; @@ -202,6 +207,7 @@ unsigned short AxisSweep3::AddHandle(const SimdPoint3& aabbMin,const SimdPoint3& return handle; } + void AxisSweep3::RemoveHandle(unsigned short handle) { Handle* pHandle = GetHandle(handle); @@ -211,9 +217,19 @@ void AxisSweep3::RemoveHandle(unsigned short handle) // compute current limit of edge arrays int limit = m_numHandles * 2; - + int axis; + + for (axis = 0;axis<3;axis++) + { + Edge* pEdges = m_pEdges[axis]; + int maxEdge= pHandle->m_maxEdges[axis]; + pEdges[maxEdge].m_pos = 0xffff; + int minEdge = pHandle->m_minEdges[axis]; + pEdges[minEdge].m_pos = 0xffff; + } + // remove the edges by sorting them up to the end of the list - for (int axis = 0; axis < 3; axis++) + for ( axis = 0; axis < 3; axis++) { Edge* pEdges = m_pEdges[axis]; int max = pHandle->m_maxEdges[axis]; diff --git a/extern/bullet/Bullet/BroadphaseCollision/AxisSweep3.h b/extern/bullet/Bullet/BroadphaseCollision/AxisSweep3.h index 023f61e28c6..9591bdbb40e 100644 --- a/extern/bullet/Bullet/BroadphaseCollision/AxisSweep3.h +++ b/extern/bullet/Bullet/BroadphaseCollision/AxisSweep3.h @@ -43,6 +43,7 @@ public: class Handle : public BroadphaseProxy { public: + // indexes into the edge arrays unsigned short m_minEdges[3], m_maxEdges[3]; // 6 * 2 = 12 unsigned short m_handleId; diff --git a/extern/bullet/Bullet/BroadphaseCollision/BroadphaseProxy.h b/extern/bullet/Bullet/BroadphaseCollision/BroadphaseProxy.h index c50c4d42c7f..78bd7ab7697 100644 --- a/extern/bullet/Bullet/BroadphaseCollision/BroadphaseProxy.h +++ b/extern/bullet/Bullet/BroadphaseCollision/BroadphaseProxy.h @@ -50,7 +50,7 @@ CONCAVE_SHAPES_START_HERE, ///BroadphaseProxy struct BroadphaseProxy { - + //Usually the client CollisionObject or Rigidbody class void* m_clientObject; diff --git a/extern/bullet/Bullet/BroadphaseCollision/SimpleBroadphase.cpp b/extern/bullet/Bullet/BroadphaseCollision/SimpleBroadphase.cpp index c42386af580..c797ed96503 100644 --- a/extern/bullet/Bullet/BroadphaseCollision/SimpleBroadphase.cpp +++ b/extern/bullet/Bullet/BroadphaseCollision/SimpleBroadphase.cpp @@ -23,6 +23,18 @@ subject to the following restrictions: #include <vector> +void SimpleBroadphase::validate() +{ + for (int i=0;i<m_numProxies;i++) + { + for (int j=i+1;j<m_numProxies;j++) + { + assert(m_pProxies[i] != m_pProxies[j]); + } + } + +} + SimpleBroadphase::SimpleBroadphase(int maxProxies,int maxOverlap) :m_firstFreeProxy(0), m_numProxies(0), @@ -34,7 +46,7 @@ SimpleBroadphase::SimpleBroadphase(int maxProxies,int maxOverlap) m_proxies = new SimpleBroadphaseProxy[maxProxies]; m_freeProxies = new int[maxProxies]; - m_pProxies = new BroadphaseProxy*[maxProxies]; + m_pProxies = new SimpleBroadphaseProxy*[maxProxies]; m_OverlappingPairs = new BroadphasePair[maxOverlap]; @@ -72,11 +84,17 @@ BroadphaseProxy* SimpleBroadphase::CreateProxy( const SimdVector3& min, const assert(min[0]<= max[0] && min[1]<= max[1] && min[2]<= max[2]); int freeIndex= m_freeProxies[m_firstFreeProxy]; - BroadphaseProxy* proxy = new (&m_proxies[freeIndex])SimpleBroadphaseProxy(min,max,shapeType,userPtr); + SimpleBroadphaseProxy* proxy = new (&m_proxies[freeIndex])SimpleBroadphaseProxy(min,max,shapeType,userPtr); m_firstFreeProxy++; + SimpleBroadphaseProxy* proxy1 = &m_proxies[0]; + + int index = proxy - proxy1; + assert(index == freeIndex); + m_pProxies[m_numProxies] = proxy; m_numProxies++; + //validate(); return proxy; } @@ -95,41 +113,34 @@ void SimpleBroadphase::RemoveOverlappingPairsContainingProxy(BroadphaseProxy* pr } } -void SimpleBroadphase::DestroyProxy(BroadphaseProxy* proxy) +void SimpleBroadphase::DestroyProxy(BroadphaseProxy* proxyOrg) { int i; - BroadphaseProxy* proxy1 = &m_proxies[0]; + SimpleBroadphaseProxy* proxy0 = static_cast<SimpleBroadphaseProxy*>(proxyOrg); + SimpleBroadphaseProxy* proxy1 = &m_proxies[0]; - int index = proxy - proxy1; + int index = proxy0 - proxy1; + assert (index < m_maxProxies); m_freeProxies[--m_firstFreeProxy] = index; - RemoveOverlappingPairsContainingProxy(proxy); + RemoveOverlappingPairsContainingProxy(proxyOrg); for (i=0;i<m_numProxies;i++) { - if (m_pProxies[i] == proxy) + if (m_pProxies[i] == proxyOrg) { - m_proxies[i] = m_proxies[m_numProxies-1]; + m_pProxies[i] = m_pProxies[m_numProxies-1]; break; } } m_numProxies--; + //validate(); } -SimpleBroadphaseProxy* SimpleBroadphase::GetSimpleProxyFromProxy(BroadphaseProxy* proxy) -{ - SimpleBroadphaseProxy* proxy0 = static_cast<SimpleBroadphaseProxy*>(proxy); - - int index = proxy0 - &m_proxies[0]; - //assert(index < m_numProxies); - - SimpleBroadphaseProxy* sbp = &m_proxies[index]; - return sbp; -} void SimpleBroadphase::SetAabb(BroadphaseProxy* proxy,const SimdVector3& aabbMin,const SimdVector3& aabbMax) { SimpleBroadphaseProxy* sbp = GetSimpleProxyFromProxy(proxy); @@ -167,7 +178,8 @@ void SimpleBroadphase::CleanProxyFromPairs(BroadphaseProxy* proxy) void SimpleBroadphase::AddOverlappingPair(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1) { - + //don't add overlap with own + assert(proxy0 != proxy1); BroadphasePair pair(*proxy0,*proxy1); m_OverlappingPairs[m_NumOverlapBroadphasePair] = pair; @@ -181,11 +193,14 @@ void SimpleBroadphase::AddOverlappingPair(BroadphaseProxy* proxy0,BroadphaseProx if (m_NumOverlapBroadphasePair >= m_maxOverlap) { - printf("Error: too many overlapping objects: m_NumOverlapBroadphasePair: %d\n",m_NumOverlapBroadphasePair); + //printf("Error: too many overlapping objects: m_NumOverlapBroadphasePair: %d\n",m_NumOverlapBroadphasePair); assert(0); + } else + { + m_NumOverlapBroadphasePair++; } - m_NumOverlapBroadphasePair++; + } BroadphasePair* SimpleBroadphase::FindPair(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1) diff --git a/extern/bullet/Bullet/BroadphaseCollision/SimpleBroadphase.h b/extern/bullet/Bullet/BroadphaseCollision/SimpleBroadphase.h index 4de7bb6c9d4..b61f82b62a8 100644 --- a/extern/bullet/Bullet/BroadphaseCollision/SimpleBroadphase.h +++ b/extern/bullet/Bullet/BroadphaseCollision/SimpleBroadphase.h @@ -47,7 +47,7 @@ class SimpleBroadphase : public BroadphaseInterface int* m_freeProxies; int m_firstFreeProxy; - BroadphaseProxy** m_pProxies; + SimpleBroadphaseProxy** m_pProxies; int m_numProxies; //during the dispatch, check that user doesn't destroy/create proxy @@ -59,10 +59,16 @@ class SimpleBroadphase : public BroadphaseInterface int m_maxProxies; int m_maxOverlap; - SimpleBroadphaseProxy* GetSimpleProxyFromProxy(BroadphaseProxy* proxy); + inline SimpleBroadphaseProxy* GetSimpleProxyFromProxy(BroadphaseProxy* proxy) + { + SimpleBroadphaseProxy* proxy0 = static_cast<SimpleBroadphaseProxy*>(proxy); + return proxy0; + } bool AabbOverlap(SimpleBroadphaseProxy* proxy0,SimpleBroadphaseProxy* proxy1); + void validate(); + protected: void RemoveOverlappingPair(BroadphasePair& pair); void CleanOverlappingPair(BroadphasePair& pair); diff --git a/extern/bullet/Bullet/CollisionDispatch/CollisionDispatcher.cpp b/extern/bullet/Bullet/CollisionDispatch/CollisionDispatcher.cpp index a1e132c0f60..1a3f192e533 100644 --- a/extern/bullet/Bullet/CollisionDispatch/CollisionDispatcher.cpp +++ b/extern/bullet/Bullet/CollisionDispatch/CollisionDispatcher.cpp @@ -97,6 +97,8 @@ void CollisionDispatcher::ReleaseManifold(PersistentManifold* manifold) { std::swap(*i, m_manifoldsPtr.back()); m_manifoldsPtr.pop_back(); + delete manifold; + } diff --git a/extern/bullet/Bullet/CollisionDispatch/ConvexConvexAlgorithm.cpp b/extern/bullet/Bullet/CollisionDispatch/ConvexConvexAlgorithm.cpp index ad06b68aa92..2bb3016acdb 100644 --- a/extern/bullet/Bullet/CollisionDispatch/ConvexConvexAlgorithm.cpp +++ b/extern/bullet/Bullet/CollisionDispatch/ConvexConvexAlgorithm.cpp @@ -119,13 +119,6 @@ void ConvexConvexAlgorithm ::SetLowLevelOfDetail(bool useLowLevel) m_lowLevelOfDetail = useLowLevel; } -float ConvexConvexAlgorithm::GetCollisionImpulse() const -{ - if (m_manifoldPtr) - return m_manifoldPtr->GetCollisionImpulse(); - - return 0.f; -} class FlippedContactResult : public DiscreteCollisionDetectorInterface::Result @@ -329,7 +322,7 @@ void ConvexConvexAlgorithm ::ProcessCollision (BroadphaseProxy* ,BroadphaseProxy { m_gjkPairDetector.SetMinkowskiA(min0); m_gjkPairDetector.SetMinkowskiB(min1); - input.m_maximumDistanceSquared = min0->GetMargin() + min1->GetMargin() + m_manifoldPtr->GetManifoldMargin(); + input.m_maximumDistanceSquared = min0->GetMargin() + min1->GetMargin() + m_manifoldPtr->GetContactBreakingTreshold(); input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared; } diff --git a/extern/bullet/Bullet/CollisionDispatch/ConvexConvexAlgorithm.h b/extern/bullet/Bullet/CollisionDispatch/ConvexConvexAlgorithm.h index 6d8143df552..c96d03e3989 100644 --- a/extern/bullet/Bullet/CollisionDispatch/ConvexConvexAlgorithm.h +++ b/extern/bullet/Bullet/CollisionDispatch/ConvexConvexAlgorithm.h @@ -55,7 +55,7 @@ public: void SetLowLevelOfDetail(bool useLowLevel); - float GetCollisionImpulse() const; + const PersistentManifold* GetManifold() { diff --git a/extern/bullet/Bullet/CollisionDispatch/ManifoldResult.cpp b/extern/bullet/Bullet/CollisionDispatch/ManifoldResult.cpp index 3a3d60bf569..ccd9a4b2cbc 100644 --- a/extern/bullet/Bullet/CollisionDispatch/ManifoldResult.cpp +++ b/extern/bullet/Bullet/CollisionDispatch/ManifoldResult.cpp @@ -27,7 +27,7 @@ ManifoldResult::ManifoldResult(CollisionObject* body0,CollisionObject* body1,Per void ManifoldResult::AddContactPoint(const SimdVector3& normalOnBInWorld,const SimdVector3& pointInWorld,float depth) { - if (depth > m_manifoldPtr->GetManifoldMargin()) + if (depth > m_manifoldPtr->GetContactBreakingTreshold()) return; SimdTransform transAInv = m_body0->m_worldTransform.inverse(); diff --git a/extern/bullet/Bullet/CollisionShapes/ConvexTriangleCallback.cpp b/extern/bullet/Bullet/CollisionShapes/ConvexTriangleCallback.cpp index 71a74f65bc2..9ed5f240b9f 100644 --- a/extern/bullet/Bullet/CollisionShapes/ConvexTriangleCallback.cpp +++ b/extern/bullet/Bullet/CollisionShapes/ConvexTriangleCallback.cpp @@ -68,7 +68,7 @@ void ConvexTriangleCallback::ProcessTriangle(SimdVector3* triangle) gjkDetector.SetMinkowskiA(&tm); gjkDetector.SetMinkowskiB(m_convexShape); - input.m_maximumDistanceSquared = tm.GetMargin()+ m_convexShape->GetMargin() + m_manifoldPtr->GetManifoldMargin(); + input.m_maximumDistanceSquared = tm.GetMargin()+ m_convexShape->GetMargin() + m_manifoldPtr->GetContactBreakingTreshold(); input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared; input.m_maximumDistanceSquared = 1e30f;//? diff --git a/extern/bullet/Bullet/CollisionShapes/CylinderShape.cpp b/extern/bullet/Bullet/CollisionShapes/CylinderShape.cpp index d533cc29aac..49163b4579e 100644 --- a/extern/bullet/Bullet/CollisionShapes/CylinderShape.cpp +++ b/extern/bullet/Bullet/CollisionShapes/CylinderShape.cpp @@ -35,7 +35,7 @@ CylinderShapeZ::CylinderShapeZ (const SimdVector3& halfExtents) -SimdVector3 CylinderLocalSupportX(const SimdVector3& halfExtents,const SimdVector3& v) +inline SimdVector3 CylinderLocalSupportX(const SimdVector3& halfExtents,const SimdVector3& v) { const int cylinderUpAxis = 0; const int XX = 1; @@ -78,7 +78,7 @@ const int ZZ = 2; -SimdVector3 CylinderLocalSupportY(const SimdVector3& halfExtents,const SimdVector3& v) +inline SimdVector3 CylinderLocalSupportY(const SimdVector3& halfExtents,const SimdVector3& v) { const int cylinderUpAxis = 1; @@ -113,7 +113,7 @@ const int ZZ = 2; } -SimdVector3 CylinderLocalSupportZ(const SimdVector3& halfExtents,const SimdVector3& v) +inline SimdVector3 CylinderLocalSupportZ(const SimdVector3& halfExtents,const SimdVector3& v) { const int cylinderUpAxis = 2; const int XX = 0; @@ -155,6 +155,8 @@ SimdVector3 CylinderShapeX::LocalGetSupportingVertexWithoutMargin(const SimdVect { return CylinderLocalSupportX(GetHalfExtents(),vec); } + + SimdVector3 CylinderShapeZ::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const { return CylinderLocalSupportZ(GetHalfExtents(),vec); @@ -164,9 +166,31 @@ SimdVector3 CylinderShape::LocalGetSupportingVertexWithoutMargin(const SimdVecto return CylinderLocalSupportY(GetHalfExtents(),vec); } +void CylinderShape::BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const +{ + for (int i=0;i<numVectors;i++) + { + supportVerticesOut[i] = CylinderLocalSupportY(GetHalfExtents(),vectors[i]); + } +} +void CylinderShapeZ::BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const +{ + for (int i=0;i<numVectors;i++) + { + supportVerticesOut[i] = CylinderLocalSupportZ(GetHalfExtents(),vectors[i]); + } +} +void CylinderShapeX::BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const +{ + for (int i=0;i<numVectors;i++) + { + supportVerticesOut[i] = CylinderLocalSupportX(GetHalfExtents(),vectors[i]); + } +} + diff --git a/extern/bullet/Bullet/CollisionShapes/CylinderShape.h b/extern/bullet/Bullet/CollisionShapes/CylinderShape.h index 2c0c8008d71..49e3c0ab3ee 100644 --- a/extern/bullet/Bullet/CollisionShapes/CylinderShape.h +++ b/extern/bullet/Bullet/CollisionShapes/CylinderShape.h @@ -36,6 +36,8 @@ public: virtual SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const; + virtual void BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const; + virtual SimdVector3 LocalGetSupportingVertex(const SimdVector3& vec) const { @@ -74,6 +76,7 @@ public: CylinderShapeX (const SimdVector3& halfExtents); virtual SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const; + virtual void BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const; }; class CylinderShapeZ : public CylinderShape @@ -82,6 +85,7 @@ public: CylinderShapeZ (const SimdVector3& halfExtents); virtual SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const; + virtual void BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const; }; diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/ManifoldContactAddResult.cpp b/extern/bullet/Bullet/NarrowPhaseCollision/ManifoldContactAddResult.cpp index 627c4f7ae09..ad97b9579b0 100644 --- a/extern/bullet/Bullet/NarrowPhaseCollision/ManifoldContactAddResult.cpp +++ b/extern/bullet/Bullet/NarrowPhaseCollision/ManifoldContactAddResult.cpp @@ -27,7 +27,7 @@ ManifoldContactAddResult::ManifoldContactAddResult(SimdTransform transA,SimdTran void ManifoldContactAddResult::AddContactPoint(const SimdVector3& normalOnBInWorld,const SimdVector3& pointInWorld,float depth) { - if (depth > m_manifoldPtr->GetManifoldMargin()) + if (depth > m_manifoldPtr->GetContactBreakingTreshold()) return; diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.cpp b/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.cpp index befed5379be..7aa225cdce2 100644 --- a/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.cpp +++ b/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.cpp @@ -82,7 +82,7 @@ int PersistentManifold::SortCachedPoints(const ManifoldPoint& pt) int PersistentManifold::GetCacheEntry(const ManifoldPoint& newPoint) const { - SimdScalar shortestDist = GetManifoldMargin() * GetManifoldMargin(); + SimdScalar shortestDist = GetContactBreakingTreshold() * GetContactBreakingTreshold(); int size = GetNumContacts(); int nearestPoint = -1; for( int i = 0; i < size; i++ ) @@ -121,7 +121,7 @@ void PersistentManifold::AddManifoldPoint(const ManifoldPoint& newPoint) ReplaceContactPoint(newPoint,insertIndex); } -float PersistentManifold::GetManifoldMargin() const +float PersistentManifold::GetContactBreakingTreshold() const { return gContactBreakingTreshold; } @@ -157,7 +157,7 @@ void PersistentManifold::RefreshContactPoints(const SimdTransform& trA,const Sim projectedPoint = manifoldPoint.m_positionWorldOnA - manifoldPoint.m_normalWorldOnB * manifoldPoint.m_distance1; projectedDifference = manifoldPoint.m_positionWorldOnB - projectedPoint; distance2d = projectedDifference.dot(projectedDifference); - if (distance2d > GetManifoldMargin()*GetManifoldMargin() ) + if (distance2d > GetContactBreakingTreshold()*GetContactBreakingTreshold() ) { RemoveContactPoint(i); } @@ -166,32 +166,6 @@ void PersistentManifold::RefreshContactPoints(const SimdTransform& trA,const Sim } -//todo: remove this treshold -float gPenetrationDistanceCheck = -0.05f; -float PersistentManifold::GetCollisionImpulse() const -{ - float averageImpulse = 0.f; - if (GetNumContacts() > 0) - { - float totalImpulse = 0.f; - - //return the sum of the applied impulses on the box - for (int i=0;i<GetNumContacts();i++) - { - const ManifoldPoint& cp = GetContactPoint(i); - //avoid conflic noice - if ( cp.GetDistance() <gPenetrationDistanceCheck) - return 0.f; - - totalImpulse += cp.m_appliedImpulse; - - } - averageImpulse = totalImpulse / ((float)GetNumContacts()); - - } - return averageImpulse; - -} diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.h b/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.h index 7f4c9a0e401..235f604a2f8 100644 --- a/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.h +++ b/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.h @@ -86,7 +86,7 @@ public: } /// todo: get this margin from the current physics / collision environment - float GetManifoldMargin() const; + float GetContactBreakingTreshold() const; int GetCacheEntry(const ManifoldPoint& newPoint) const; @@ -105,14 +105,13 @@ public: bool ValidContactDistance(const ManifoldPoint& pt) const { - return pt.m_distance1 <= GetManifoldMargin(); + return pt.m_distance1 <= GetContactBreakingTreshold(); } /// calculated new worldspace coordinates and depth, and reject points that exceed the collision margin void RefreshContactPoints( const SimdTransform& trA,const SimdTransform& trB); void ClearManifold(); - float GetCollisionImpulse() const; }; diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/SimplexSolverInterface.h b/extern/bullet/Bullet/NarrowPhaseCollision/SimplexSolverInterface.h index b4edda15b32..8cefc900d29 100644 --- a/extern/bullet/Bullet/NarrowPhaseCollision/SimplexSolverInterface.h +++ b/extern/bullet/Bullet/NarrowPhaseCollision/SimplexSolverInterface.h @@ -21,7 +21,7 @@ subject to the following restrictions: #include "SimdVector3.h" #include "SimdPoint3.h" -#define NO_VIRTUAL_INTERFACE +#define NO_VIRTUAL_INTERFACE 1 #ifdef NO_VIRTUAL_INTERFACE #include "VoronoiSimplexSolver.h" #define SimplexSolverInterface VoronoiSimplexSolver diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/SimpleConstraintSolver.cpp b/extern/bullet/BulletDynamics/ConstraintSolver/SimpleConstraintSolver.cpp index 07e1502e7d0..be1025bb994 100644 --- a/extern/bullet/BulletDynamics/ConstraintSolver/SimpleConstraintSolver.cpp +++ b/extern/bullet/BulletDynamics/ConstraintSolver/SimpleConstraintSolver.cpp @@ -30,7 +30,7 @@ subject to the following restrictions: #include "quickprof.h" #endif //USE_PROFILE -//iterative lcp and penalty method +/// SimpleConstraintSolver Sequentially applies impulses float SimpleConstraintSolver::SolveGroup(PersistentManifold** manifoldPtr, int numManifolds,const ContactSolverInfo& infoGlobal,IDebugDraw* debugDrawer) { ContactSolverInfo info = infoGlobal; diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/SimpleConstraintSolver.h b/extern/bullet/BulletDynamics/ConstraintSolver/SimpleConstraintSolver.h index b6f12db6c45..e58f8020a7a 100644 --- a/extern/bullet/BulletDynamics/ConstraintSolver/SimpleConstraintSolver.h +++ b/extern/bullet/BulletDynamics/ConstraintSolver/SimpleConstraintSolver.h @@ -19,7 +19,9 @@ subject to the following restrictions: #include "ConstraintSolver.h" class IDebugDraw; -/// SimpleConstraintSolver uses a Propagation Method +/// SimpleConstraintSolver uses a Propagation Method and Sequentially applies impulses +/// The approach is the 3D version of Erin Catto's GDC 2006 tutorial. See http://www.gphysics.com +/// Although Sequential Impulse is more intuitive, it is mathematically equivalent to Projected Successive Overrelaxation (iterative LCP) /// Applies impulses for combined restitution and penetration recovery and to simulate friction class SimpleConstraintSolver : public ConstraintSolver { diff --git a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp index cbe7961773d..68010b85180 100644 --- a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp +++ b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp @@ -328,6 +328,10 @@ void CcdPhysicsController::SetAngularVelocity(float ang_velX,float ang_velY,flo SimdVector3 angvel(ang_velX,ang_velY,ang_velZ); if (angvel.length2() > (SIMD_EPSILON*SIMD_EPSILON)) { + m_body->activate(); + } + + { SimdTransform xform = m_body->getCenterOfMassTransform(); if (local) { @@ -345,6 +349,9 @@ void CcdPhysicsController::SetLinearVelocity(float lin_velX,float lin_velY,floa if (linVel.length2() > (SIMD_EPSILON*SIMD_EPSILON)) { m_body->activate(); + } + + { SimdTransform xform = m_body->getCenterOfMassTransform(); if (local) { diff --git a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.h b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.h index 2c5e01dd4b0..e670755b1f2 100644 --- a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.h +++ b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.h @@ -29,6 +29,7 @@ struct CcdConstructionInfo : m_gravity(0,0,0), m_mass(0.f), m_restitution(0.1f), + m_friction(0.5f), m_linearDamping(0.1f), m_angularDamping(0.1f), m_MotionState(0), |