diff options
Diffstat (limited to 'extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp')
| -rw-r--r-- | extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp | 159 |
1 files changed, 133 insertions, 26 deletions
diff --git a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp index 5b6db434f8b..aac699468d0 100644 --- a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp +++ b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp @@ -4,7 +4,7 @@ #include <algorithm> #include "SimdTransform.h" #include "Dynamics/RigidBody.h" -#include "BroadphaseCollision/BroadPhaseInterface.h" +#include "BroadphaseCollision/BroadphaseInterface.h" #include "BroadphaseCollision/SimpleBroadphase.h" #include "CollisionShapes/ConvexShape.h" @@ -33,8 +33,6 @@ bool useIslands = true; //#include "BroadphaseCollision/QueryBox.h" //todo: change this to allow dynamic registration of types! -unsigned long gNumIterations = 10; - #ifdef WIN32 void DrawRasterizerLine(const float* from,const float* to,int color); #endif @@ -88,14 +86,17 @@ static void DrawAabb(IDebugDraw* debugDrawer,const SimdVector3& from,const SimdV CcdPhysicsEnvironment::CcdPhysicsEnvironment(ToiContactDispatcher* dispatcher,BroadphaseInterface* bp) :m_dispatcher(dispatcher), m_broadphase(bp), -m_scalingPropagated(false) +m_scalingPropagated(false), +m_numIterations(30), +m_ccdMode(0), +m_solverType(-1) { + if (!m_dispatcher) { - OdeConstraintSolver* solver = new OdeConstraintSolver(); - //SimpleConstraintSolver* solver= new SimpleConstraintSolver(); - m_dispatcher = new ToiContactDispatcher(solver); + setSolverType(0); } + if (!m_broadphase) { m_broadphase = new SimpleBroadphase(); @@ -290,7 +291,6 @@ void CcdPhysicsEnvironment::UpdateActivationState() } -bool gPredictCollision = false;//true;//false; /// Perform an integration step of duration 'timeStep'. @@ -346,7 +346,7 @@ bool CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep) - int numsubstep = gNumIterations; + int numsubstep = m_numIterations; DispatcherInfo dispatchInfo; @@ -367,7 +367,7 @@ bool CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep) //contacts - m_dispatcher->SolveConstraints(timeStep, gNumIterations ,numRigidBodies,m_debugDrawer); + m_dispatcher->SolveConstraints(timeStep, m_numIterations ,numRigidBodies,m_debugDrawer); for (int g=0;g<numsubstep;g++) { @@ -439,14 +439,41 @@ bool CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep) #ifdef WIN32 SimdVector3 color (1,0,0); + + + + if (m_debugDrawer) { //draw aabb + switch (body->GetActivationState()) + { + case ISLAND_SLEEPING: + { + color.setValue(0,1,0); + break; + } + case WANTS_DEACTIVATION: + { + color.setValue(0,0,1); + break; + } + case ACTIVE_TAG: + { + break; + } + + + }; DrawAabb(m_debugDrawer,minAabb,maxAabb,color); } #endif + scene->SetAabb(bp,minAabb,maxAabb); + + + } } @@ -454,7 +481,7 @@ bool CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep) - if (gPredictCollision) + if (m_ccdMode == 3) { DispatcherInfo dispatchInfo; dispatchInfo.m_timeStep = timeStep; @@ -505,6 +532,9 @@ bool CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep) { CcdPhysicsController* ctrl = (*i); RigidBody* body = ctrl->GetRigidBody(); + + ctrl->UpdateDeactivation(timeStep); + if (ctrl->wantsSleeping()) { @@ -543,26 +573,103 @@ bool CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep) void CcdPhysicsEnvironment::setDebugMode(int debugMode) { - if (debugMode > 10) - { - if (m_dispatcher) - delete m_dispatcher; - - if (debugMode == 11) - { - SimpleConstraintSolver* solver= new SimpleConstraintSolver(); - m_dispatcher = new ToiContactDispatcher(solver); - } else - { - OdeConstraintSolver* solver = new OdeConstraintSolver(); - m_dispatcher = new ToiContactDispatcher(solver); - } - } if (m_debugDrawer){ m_debugDrawer->SetDebugMode(debugMode); } } +void CcdPhysicsEnvironment::setNumIterations(int numIter) +{ + m_numIterations = numIter; +} +void CcdPhysicsEnvironment::setDeactivationTime(float dTime) +{ + gDeactivationTime = dTime; +} +void CcdPhysicsEnvironment::setDeactivationLinearTreshold(float linTresh) +{ + gLinearSleepingTreshold = linTresh; +} +void CcdPhysicsEnvironment::setDeactivationAngularTreshold(float angTresh) +{ + gAngularSleepingTreshold = angTresh; +} +void CcdPhysicsEnvironment::setContactBreakingTreshold(float contactBreakingTreshold) +{ + gContactBreakingTreshold = contactBreakingTreshold; + +} + + +void CcdPhysicsEnvironment::setCcdMode(int ccdMode) +{ + m_ccdMode = ccdMode; +} + + +void CcdPhysicsEnvironment::setSolverSorConstant(float sor) +{ + m_dispatcher->SetSor(sor); +} + +void CcdPhysicsEnvironment::setSolverTau(float tau) +{ + m_dispatcher->SetTau(tau); +} +void CcdPhysicsEnvironment::setSolverDamping(float damping) +{ + m_dispatcher->SetDamping(damping); +} + + +void CcdPhysicsEnvironment::setLinearAirDamping(float damping) +{ + gLinearAirDamping = damping; +} + +void CcdPhysicsEnvironment::setUseEpa(bool epa) +{ + gUseEpa = epa; +} + +void CcdPhysicsEnvironment::setSolverType(int solverType) +{ + + switch (solverType) + { + case 1: + { + if (m_solverType != solverType) + { + if (m_dispatcher) + delete m_dispatcher; + + SimpleConstraintSolver* solver= new SimpleConstraintSolver(); + m_dispatcher = new ToiContactDispatcher(solver); + break; + } + } + + case 0: + default: + if (m_solverType != solverType) + { + if (m_dispatcher) + delete m_dispatcher; + + OdeConstraintSolver* solver= new OdeConstraintSolver(); + m_dispatcher = new ToiContactDispatcher(solver); + break; + } + + }; + + m_solverType = solverType ; +} + + + + void CcdPhysicsEnvironment::SyncMotionStates(float timeStep) { |