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Diffstat (limited to 'extern/bullet2/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp')
| -rw-r--r-- | extern/bullet2/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp | 1161 |
1 files changed, 0 insertions, 1161 deletions
diff --git a/extern/bullet2/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp b/extern/bullet2/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp deleted file mode 100644 index a88ed1cafa8..00000000000 --- a/extern/bullet2/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp +++ /dev/null @@ -1,1161 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ - - -#include "btDiscreteDynamicsWorld.h" - -//collision detection -#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" -#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h" -#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" -#include "BulletCollision/CollisionShapes/btCollisionShape.h" -#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h" -#include "LinearMath/btTransformUtil.h" -#include "LinearMath/btQuickprof.h" - -//rigidbody & constraints -#include "BulletDynamics/Dynamics/btRigidBody.h" -#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h" -#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h" -#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h" -#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h" -#include "BulletDynamics/ConstraintSolver/btHingeConstraint.h" -#include "BulletDynamics/ConstraintSolver/btConeTwistConstraint.h" -#include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h" -#include "BulletDynamics/ConstraintSolver/btSliderConstraint.h" - -#include "LinearMath/btIDebugDraw.h" -#include "BulletCollision/CollisionShapes/btSphereShape.h" - - -#include "BulletDynamics/Dynamics/btActionInterface.h" -#include "LinearMath/btQuickprof.h" -#include "LinearMath/btMotionState.h" - -#include "LinearMath/btSerializer.h" - - - -btDiscreteDynamicsWorld::btDiscreteDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration) -:btDynamicsWorld(dispatcher,pairCache,collisionConfiguration), -m_constraintSolver(constraintSolver), -m_gravity(0,-10,0), -m_localTime(btScalar(1.)/btScalar(60.)), -m_synchronizeAllMotionStates(false), -m_profileTimings(0) -{ - if (!m_constraintSolver) - { - void* mem = btAlignedAlloc(sizeof(btSequentialImpulseConstraintSolver),16); - m_constraintSolver = new (mem) btSequentialImpulseConstraintSolver; - m_ownsConstraintSolver = true; - } else - { - m_ownsConstraintSolver = false; - } - - { - void* mem = btAlignedAlloc(sizeof(btSimulationIslandManager),16); - m_islandManager = new (mem) btSimulationIslandManager(); - } - - m_ownsIslandManager = true; -} - - -btDiscreteDynamicsWorld::~btDiscreteDynamicsWorld() -{ - //only delete it when we created it - if (m_ownsIslandManager) - { - m_islandManager->~btSimulationIslandManager(); - btAlignedFree( m_islandManager); - } - if (m_ownsConstraintSolver) - { - - m_constraintSolver->~btConstraintSolver(); - btAlignedFree(m_constraintSolver); - } -} - -void btDiscreteDynamicsWorld::saveKinematicState(btScalar timeStep) -{ -///would like to iterate over m_nonStaticRigidBodies, but unfortunately old API allows -///to switch status _after_ adding kinematic objects to the world -///fix it for Bullet 3.x release - for (int i=0;i<m_collisionObjects.size();i++) - { - btCollisionObject* colObj = m_collisionObjects[i]; - btRigidBody* body = btRigidBody::upcast(colObj); - if (body && body->getActivationState() != ISLAND_SLEEPING) - { - if (body->isKinematicObject()) - { - //to calculate velocities next frame - body->saveKinematicState(timeStep); - } - } - } - -} - -void btDiscreteDynamicsWorld::debugDrawWorld() -{ - BT_PROFILE("debugDrawWorld"); - - btCollisionWorld::debugDrawWorld(); - - bool drawConstraints = false; - if (getDebugDrawer()) - { - int mode = getDebugDrawer()->getDebugMode(); - if(mode & (btIDebugDraw::DBG_DrawConstraints | btIDebugDraw::DBG_DrawConstraintLimits)) - { - drawConstraints = true; - } - } - if(drawConstraints) - { - for(int i = getNumConstraints()-1; i>=0 ;i--) - { - btTypedConstraint* constraint = getConstraint(i); - debugDrawConstraint(constraint); - } - } - - - - if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe | btIDebugDraw::DBG_DrawAabb)) - { - int i; - - if (getDebugDrawer() && getDebugDrawer()->getDebugMode()) - { - for (i=0;i<m_actions.size();i++) - { - m_actions[i]->debugDraw(m_debugDrawer); - } - } - } -} - -void btDiscreteDynamicsWorld::clearForces() -{ - ///@todo: iterate over awake simulation islands! - for ( int i=0;i<m_nonStaticRigidBodies.size();i++) - { - btRigidBody* body = m_nonStaticRigidBodies[i]; - //need to check if next line is ok - //it might break backward compatibility (people applying forces on sleeping objects get never cleared and accumulate on wake-up - body->clearForces(); - } -} - -///apply gravity, call this once per timestep -void btDiscreteDynamicsWorld::applyGravity() -{ - ///@todo: iterate over awake simulation islands! - for ( int i=0;i<m_nonStaticRigidBodies.size();i++) - { - btRigidBody* body = m_nonStaticRigidBodies[i]; - if (body->isActive()) - { - body->applyGravity(); - } - } -} - - -void btDiscreteDynamicsWorld::synchronizeSingleMotionState(btRigidBody* body) -{ - btAssert(body); - - if (body->getMotionState() && !body->isStaticOrKinematicObject()) - { - //we need to call the update at least once, even for sleeping objects - //otherwise the 'graphics' transform never updates properly - ///@todo: add 'dirty' flag - //if (body->getActivationState() != ISLAND_SLEEPING) - { - btTransform interpolatedTransform; - btTransformUtil::integrateTransform(body->getInterpolationWorldTransform(), - body->getInterpolationLinearVelocity(),body->getInterpolationAngularVelocity(),m_localTime*body->getHitFraction(),interpolatedTransform); - body->getMotionState()->setWorldTransform(interpolatedTransform); - } - } -} - - -void btDiscreteDynamicsWorld::synchronizeMotionStates() -{ - BT_PROFILE("synchronizeMotionStates"); - if (m_synchronizeAllMotionStates) - { - //iterate over all collision objects - for ( int i=0;i<m_collisionObjects.size();i++) - { - btCollisionObject* colObj = m_collisionObjects[i]; - btRigidBody* body = btRigidBody::upcast(colObj); - if (body) - synchronizeSingleMotionState(body); - } - } else - { - //iterate over all active rigid bodies - for ( int i=0;i<m_nonStaticRigidBodies.size();i++) - { - btRigidBody* body = m_nonStaticRigidBodies[i]; - if (body->isActive()) - synchronizeSingleMotionState(body); - } - } -} - - -int btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, btScalar fixedTimeStep) -{ - startProfiling(timeStep); - - BT_PROFILE("stepSimulation"); - - int numSimulationSubSteps = 0; - - if (maxSubSteps) - { - //fixed timestep with interpolation - m_localTime += timeStep; - if (m_localTime >= fixedTimeStep) - { - numSimulationSubSteps = int( m_localTime / fixedTimeStep); - m_localTime -= numSimulationSubSteps * fixedTimeStep; - } - } else - { - //variable timestep - fixedTimeStep = timeStep; - m_localTime = timeStep; - if (btFuzzyZero(timeStep)) - { - numSimulationSubSteps = 0; - maxSubSteps = 0; - } else - { - numSimulationSubSteps = 1; - maxSubSteps = 1; - } - } - - //process some debugging flags - if (getDebugDrawer()) - { - btIDebugDraw* debugDrawer = getDebugDrawer (); - gDisableDeactivation = (debugDrawer->getDebugMode() & btIDebugDraw::DBG_NoDeactivation) != 0; - } - if (numSimulationSubSteps) - { - - //clamp the number of substeps, to prevent simulation grinding spiralling down to a halt - int clampedSimulationSteps = (numSimulationSubSteps > maxSubSteps)? maxSubSteps : numSimulationSubSteps; - - saveKinematicState(fixedTimeStep*clampedSimulationSteps); - - applyGravity(); - - - - for (int i=0;i<clampedSimulationSteps;i++) - { - internalSingleStepSimulation(fixedTimeStep); - synchronizeMotionStates(); - } - - } else - { - synchronizeMotionStates(); - } - - clearForces(); - -#ifndef BT_NO_PROFILE - CProfileManager::Increment_Frame_Counter(); -#endif //BT_NO_PROFILE - - return numSimulationSubSteps; -} - -void btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep) -{ - - BT_PROFILE("internalSingleStepSimulation"); - - if(0 != m_internalPreTickCallback) { - (*m_internalPreTickCallback)(this, timeStep); - } - - ///apply gravity, predict motion - predictUnconstraintMotion(timeStep); - - btDispatcherInfo& dispatchInfo = getDispatchInfo(); - - dispatchInfo.m_timeStep = timeStep; - dispatchInfo.m_stepCount = 0; - dispatchInfo.m_debugDraw = getDebugDrawer(); - - ///perform collision detection - performDiscreteCollisionDetection(); - - calculateSimulationIslands(); - - - getSolverInfo().m_timeStep = timeStep; - - - - ///solve contact and other joint constraints - solveConstraints(getSolverInfo()); - - ///CallbackTriggers(); - - ///integrate transforms - integrateTransforms(timeStep); - - ///update vehicle simulation - updateActions(timeStep); - - updateActivationState( timeStep ); - - if(0 != m_internalTickCallback) { - (*m_internalTickCallback)(this, timeStep); - } -} - -void btDiscreteDynamicsWorld::setGravity(const btVector3& gravity) -{ - m_gravity = gravity; - for ( int i=0;i<m_nonStaticRigidBodies.size();i++) - { - btRigidBody* body = m_nonStaticRigidBodies[i]; - if (body->isActive() && !(body->getFlags() &BT_DISABLE_WORLD_GRAVITY)) - { - body->setGravity(gravity); - } - } -} - -btVector3 btDiscreteDynamicsWorld::getGravity () const -{ - return m_gravity; -} - -void btDiscreteDynamicsWorld::addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup,short int collisionFilterMask) -{ - btCollisionWorld::addCollisionObject(collisionObject,collisionFilterGroup,collisionFilterMask); -} - -void btDiscreteDynamicsWorld::removeCollisionObject(btCollisionObject* collisionObject) -{ - btRigidBody* body = btRigidBody::upcast(collisionObject); - if (body) - removeRigidBody(body); - else - btCollisionWorld::removeCollisionObject(collisionObject); -} - -void btDiscreteDynamicsWorld::removeRigidBody(btRigidBody* body) -{ - m_nonStaticRigidBodies.remove(body); - btCollisionWorld::removeCollisionObject(body); -} - - -void btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body) -{ - if (!body->isStaticOrKinematicObject() && !(body->getFlags() &BT_DISABLE_WORLD_GRAVITY)) - { - body->setGravity(m_gravity); - } - - if (body->getCollisionShape()) - { - if (!body->isStaticObject()) - { - m_nonStaticRigidBodies.push_back(body); - } else - { - body->setActivationState(ISLAND_SLEEPING); - } - - bool isDynamic = !(body->isStaticObject() || body->isKinematicObject()); - short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter); - short collisionFilterMask = isDynamic? short(btBroadphaseProxy::AllFilter) : short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter); - - addCollisionObject(body,collisionFilterGroup,collisionFilterMask); - } -} - -void btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body, short group, short mask) -{ - if (!body->isStaticOrKinematicObject() && !(body->getFlags() &BT_DISABLE_WORLD_GRAVITY)) - { - body->setGravity(m_gravity); - } - - if (body->getCollisionShape()) - { - if (!body->isStaticObject()) - { - m_nonStaticRigidBodies.push_back(body); - } - else - { - body->setActivationState(ISLAND_SLEEPING); - } - addCollisionObject(body,group,mask); - } -} - - -void btDiscreteDynamicsWorld::updateActions(btScalar timeStep) -{ - BT_PROFILE("updateActions"); - - for ( int i=0;i<m_actions.size();i++) - { - m_actions[i]->updateAction( this, timeStep); - } -} - - -void btDiscreteDynamicsWorld::updateActivationState(btScalar timeStep) -{ - BT_PROFILE("updateActivationState"); - - for ( int i=0;i<m_nonStaticRigidBodies.size();i++) - { - btRigidBody* body = m_nonStaticRigidBodies[i]; - if (body) - { - body->updateDeactivation(timeStep); - - if (body->wantsSleeping()) - { - if (body->isStaticOrKinematicObject()) - { - body->setActivationState(ISLAND_SLEEPING); - } else - { - if (body->getActivationState() == ACTIVE_TAG) - body->setActivationState( WANTS_DEACTIVATION ); - if (body->getActivationState() == ISLAND_SLEEPING) - { - body->setAngularVelocity(btVector3(0,0,0)); - body->setLinearVelocity(btVector3(0,0,0)); - } - - } - } else - { - if (body->getActivationState() != DISABLE_DEACTIVATION) - body->setActivationState( ACTIVE_TAG ); - } - } - } -} - -void btDiscreteDynamicsWorld::addConstraint(btTypedConstraint* constraint,bool disableCollisionsBetweenLinkedBodies) -{ - m_constraints.push_back(constraint); - if (disableCollisionsBetweenLinkedBodies) - { - constraint->getRigidBodyA().addConstraintRef(constraint); - constraint->getRigidBodyB().addConstraintRef(constraint); - } -} - -void btDiscreteDynamicsWorld::removeConstraint(btTypedConstraint* constraint) -{ - m_constraints.remove(constraint); - constraint->getRigidBodyA().removeConstraintRef(constraint); - constraint->getRigidBodyB().removeConstraintRef(constraint); -} - -void btDiscreteDynamicsWorld::addAction(btActionInterface* action) -{ - m_actions.push_back(action); -} - -void btDiscreteDynamicsWorld::removeAction(btActionInterface* action) -{ - m_actions.remove(action); -} - - -void btDiscreteDynamicsWorld::addVehicle(btActionInterface* vehicle) -{ - addAction(vehicle); -} - -void btDiscreteDynamicsWorld::removeVehicle(btActionInterface* vehicle) -{ - removeAction(vehicle); -} - -void btDiscreteDynamicsWorld::addCharacter(btActionInterface* character) -{ - addAction(character); -} - -void btDiscreteDynamicsWorld::removeCharacter(btActionInterface* character) -{ - removeAction(character); -} - - -SIMD_FORCE_INLINE int btGetConstraintIslandId(const btTypedConstraint* lhs) -{ - int islandId; - - const btCollisionObject& rcolObj0 = lhs->getRigidBodyA(); - const btCollisionObject& rcolObj1 = lhs->getRigidBodyB(); - islandId= rcolObj0.getIslandTag()>=0?rcolObj0.getIslandTag():rcolObj1.getIslandTag(); - return islandId; - -} - - -class btSortConstraintOnIslandPredicate -{ - public: - - bool operator() ( const btTypedConstraint* lhs, const btTypedConstraint* rhs ) - { - int rIslandId0,lIslandId0; - rIslandId0 = btGetConstraintIslandId(rhs); - lIslandId0 = btGetConstraintIslandId(lhs); - return lIslandId0 < rIslandId0; - } -}; - - - -void btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo) -{ - BT_PROFILE("solveConstraints"); - - struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCallback - { - - btContactSolverInfo& m_solverInfo; - btConstraintSolver* m_solver; - btTypedConstraint** m_sortedConstraints; - int m_numConstraints; - btIDebugDraw* m_debugDrawer; - btStackAlloc* m_stackAlloc; - btDispatcher* m_dispatcher; - - btAlignedObjectArray<btCollisionObject*> m_bodies; - btAlignedObjectArray<btPersistentManifold*> m_manifolds; - btAlignedObjectArray<btTypedConstraint*> m_constraints; - - - InplaceSolverIslandCallback( - btContactSolverInfo& solverInfo, - btConstraintSolver* solver, - btTypedConstraint** sortedConstraints, - int numConstraints, - btIDebugDraw* debugDrawer, - btStackAlloc* stackAlloc, - btDispatcher* dispatcher) - :m_solverInfo(solverInfo), - m_solver(solver), - m_sortedConstraints(sortedConstraints), - m_numConstraints(numConstraints), - m_debugDrawer(debugDrawer), - m_stackAlloc(stackAlloc), - m_dispatcher(dispatcher) - { - - } - - - InplaceSolverIslandCallback& operator=(InplaceSolverIslandCallback& other) - { - btAssert(0); - (void)other; - return *this; - } - virtual void ProcessIsland(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifolds,int numManifolds, int islandId) - { - if (islandId<0) - { - if (numManifolds + m_numConstraints) - { - ///we don't split islands, so all constraints/contact manifolds/bodies are passed into the solver regardless the island id - m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,&m_sortedConstraints[0],m_numConstraints,m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher); - } - } else - { - //also add all non-contact constraints/joints for this island - btTypedConstraint** startConstraint = 0; - int numCurConstraints = 0; - int i; - - //find the first constraint for this island - for (i=0;i<m_numConstraints;i++) - { - if (btGetConstraintIslandId(m_sortedConstraints[i]) == islandId) - { - startConstraint = &m_sortedConstraints[i]; - break; - } - } - //count the number of constraints in this island - for (;i<m_numConstraints;i++) - { - if (btGetConstraintIslandId(m_sortedConstraints[i]) == islandId) - { - numCurConstraints++; - } - } - - if (m_solverInfo.m_minimumSolverBatchSize<=1) - { - ///only call solveGroup if there is some work: avoid virtual function call, its overhead can be excessive - if (numManifolds + numCurConstraints) - { - m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher); - } - } else - { - - for (i=0;i<numBodies;i++) - m_bodies.push_back(bodies[i]); - for (i=0;i<numManifolds;i++) - m_manifolds.push_back(manifolds[i]); - for (i=0;i<numCurConstraints;i++) - m_constraints.push_back(startConstraint[i]); - if ((m_constraints.size()+m_manifolds.size())>m_solverInfo.m_minimumSolverBatchSize) - { - processConstraints(); - } else - { - //printf("deferred\n"); - } - } - } - } - void processConstraints() - { - if (m_manifolds.size() + m_constraints.size()>0) - { - m_solver->solveGroup( &m_bodies[0],m_bodies.size(), &m_manifolds[0], m_manifolds.size(), &m_constraints[0], m_constraints.size() ,m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher); - } - m_bodies.resize(0); - m_manifolds.resize(0); - m_constraints.resize(0); - - } - - }; - - - - //sorted version of all btTypedConstraint, based on islandId - btAlignedObjectArray<btTypedConstraint*> sortedConstraints; - sortedConstraints.resize( m_constraints.size()); - int i; - for (i=0;i<getNumConstraints();i++) - { - sortedConstraints[i] = m_constraints[i]; - } - -// btAssert(0); - - - - sortedConstraints.quickSort(btSortConstraintOnIslandPredicate()); - - btTypedConstraint** constraintsPtr = getNumConstraints() ? &sortedConstraints[0] : 0; - - InplaceSolverIslandCallback solverCallback( solverInfo, m_constraintSolver, constraintsPtr,sortedConstraints.size(), m_debugDrawer,m_stackAlloc,m_dispatcher1); - - m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds()); - - /// solve all the constraints for this island - m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(),getCollisionWorld(),&solverCallback); - - solverCallback.processConstraints(); - - m_constraintSolver->allSolved(solverInfo, m_debugDrawer, m_stackAlloc); -} - - - - -void btDiscreteDynamicsWorld::calculateSimulationIslands() -{ - BT_PROFILE("calculateSimulationIslands"); - - getSimulationIslandManager()->updateActivationState(getCollisionWorld(),getCollisionWorld()->getDispatcher()); - - { - int i; - int numConstraints = int(m_constraints.size()); - for (i=0;i< numConstraints ; i++ ) - { - btTypedConstraint* constraint = m_constraints[i]; - - const btRigidBody* colObj0 = &constraint->getRigidBodyA(); - const btRigidBody* colObj1 = &constraint->getRigidBodyB(); - - if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) && - ((colObj1) && (!(colObj1)->isStaticOrKinematicObject()))) - { - if (colObj0->isActive() || colObj1->isActive()) - { - - getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(), - (colObj1)->getIslandTag()); - } - } - } - } - - //Store the island id in each body - getSimulationIslandManager()->storeIslandActivationState(getCollisionWorld()); - - -} - - - - -class btClosestNotMeConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback -{ - btCollisionObject* m_me; - btScalar m_allowedPenetration; - btOverlappingPairCache* m_pairCache; - btDispatcher* m_dispatcher; - - -public: - btClosestNotMeConvexResultCallback (btCollisionObject* me,const btVector3& fromA,const btVector3& toA,btOverlappingPairCache* pairCache,btDispatcher* dispatcher) : - btCollisionWorld::ClosestConvexResultCallback(fromA,toA), - m_me(me), - m_allowedPenetration(0.0f), - m_pairCache(pairCache), - m_dispatcher(dispatcher) - { - } - - virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult& convexResult,bool normalInWorldSpace) - { - if (convexResult.m_hitCollisionObject == m_me) - return 1.0f; - - //ignore result if there is no contact response - if(!convexResult.m_hitCollisionObject->hasContactResponse()) - return 1.0f; - - btVector3 linVelA,linVelB; - linVelA = m_convexToWorld-m_convexFromWorld; - linVelB = btVector3(0,0,0);//toB.getOrigin()-fromB.getOrigin(); - - btVector3 relativeVelocity = (linVelA-linVelB); - //don't report time of impact for motion away from the contact normal (or causes minor penetration) - if (convexResult.m_hitNormalLocal.dot(relativeVelocity)>=-m_allowedPenetration) - return 1.f; - - return ClosestConvexResultCallback::addSingleResult (convexResult, normalInWorldSpace); - } - - virtual bool needsCollision(btBroadphaseProxy* proxy0) const - { - //don't collide with itself - if (proxy0->m_clientObject == m_me) - return false; - - ///don't do CCD when the collision filters are not matching - if (!ClosestConvexResultCallback::needsCollision(proxy0)) - return false; - - btCollisionObject* otherObj = (btCollisionObject*) proxy0->m_clientObject; - - //call needsResponse, see http://code.google.com/p/bullet/issues/detail?id=179 - if (m_dispatcher->needsResponse(m_me,otherObj)) - { - ///don't do CCD when there are already contact points (touching contact/penetration) - btAlignedObjectArray<btPersistentManifold*> manifoldArray; - btBroadphasePair* collisionPair = m_pairCache->findPair(m_me->getBroadphaseHandle(),proxy0); - if (collisionPair) - { - if (collisionPair->m_algorithm) - { - manifoldArray.resize(0); - collisionPair->m_algorithm->getAllContactManifolds(manifoldArray); - for (int j=0;j<manifoldArray.size();j++) - { - btPersistentManifold* manifold = manifoldArray[j]; - if (manifold->getNumContacts()>0) - return false; - } - } - } - } - return true; - } - - -}; - -///internal debugging variable. this value shouldn't be too high -int gNumClampedCcdMotions=0; - -//#include "stdio.h" -void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep) -{ - BT_PROFILE("integrateTransforms"); - btTransform predictedTrans; - for ( int i=0;i<m_nonStaticRigidBodies.size();i++) - { - btRigidBody* body = m_nonStaticRigidBodies[i]; - body->setHitFraction(1.f); - - if (body->isActive() && (!body->isStaticOrKinematicObject())) - { - body->predictIntegratedTransform(timeStep, predictedTrans); - btScalar squareMotion = (predictedTrans.getOrigin()-body->getWorldTransform().getOrigin()).length2(); - - if (body->getCcdSquareMotionThreshold() && body->getCcdSquareMotionThreshold() < squareMotion) - { - BT_PROFILE("CCD motion clamping"); - if (body->getCollisionShape()->isConvex()) - { - gNumClampedCcdMotions++; - - btClosestNotMeConvexResultCallback sweepResults(body,body->getWorldTransform().getOrigin(),predictedTrans.getOrigin(),getBroadphase()->getOverlappingPairCache(),getDispatcher()); - //btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape()); - btSphereShape tmpSphere(body->getCcdSweptSphereRadius());//btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape()); - - sweepResults.m_collisionFilterGroup = body->getBroadphaseProxy()->m_collisionFilterGroup; - sweepResults.m_collisionFilterMask = body->getBroadphaseProxy()->m_collisionFilterMask; - - convexSweepTest(&tmpSphere,body->getWorldTransform(),predictedTrans,sweepResults); - if (sweepResults.hasHit() && (sweepResults.m_closestHitFraction < 1.f)) - { - 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->proceedToTransform( predictedTrans); - } - } -} - - - - - -void btDiscreteDynamicsWorld::predictUnconstraintMotion(btScalar timeStep) -{ - BT_PROFILE("predictUnconstraintMotion"); - for ( int i=0;i<m_nonStaticRigidBodies.size();i++) - { - btRigidBody* body = m_nonStaticRigidBodies[i]; - if (!body->isStaticOrKinematicObject()) - { - body->integrateVelocities( timeStep); - //damping - body->applyDamping(timeStep); - - body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform()); - } - } -} - - -void btDiscreteDynamicsWorld::startProfiling(btScalar timeStep) -{ - (void)timeStep; - -#ifndef BT_NO_PROFILE - CProfileManager::Reset(); -#endif //BT_NO_PROFILE - -} - - - - - - -void btDiscreteDynamicsWorld::debugDrawConstraint(btTypedConstraint* constraint) -{ - bool drawFrames = (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawConstraints) != 0; - bool drawLimits = (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawConstraintLimits) != 0; - btScalar dbgDrawSize = constraint->getDbgDrawSize(); - if(dbgDrawSize <= btScalar(0.f)) - { - return; - } - - switch(constraint->getConstraintType()) - { - case POINT2POINT_CONSTRAINT_TYPE: - { - btPoint2PointConstraint* p2pC = (btPoint2PointConstraint*)constraint; - btTransform tr; - tr.setIdentity(); - btVector3 pivot = p2pC->getPivotInA(); - pivot = p2pC->getRigidBodyA().getCenterOfMassTransform() * pivot; - tr.setOrigin(pivot); - getDebugDrawer()->drawTransform(tr, dbgDrawSize); - // that ideally should draw the same frame - pivot = p2pC->getPivotInB(); - pivot = p2pC->getRigidBodyB().getCenterOfMassTransform() * pivot; - tr.setOrigin(pivot); - if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize); - } - break; - case HINGE_CONSTRAINT_TYPE: - { - btHingeConstraint* pHinge = (btHingeConstraint*)constraint; - btTransform tr = pHinge->getRigidBodyA().getCenterOfMassTransform() * pHinge->getAFrame(); - if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize); - tr = pHinge->getRigidBodyB().getCenterOfMassTransform() * pHinge->getBFrame(); - if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize); - btScalar minAng = pHinge->getLowerLimit(); - btScalar maxAng = pHinge->getUpperLimit(); - if(minAng == maxAng) - { - break; - } - bool drawSect = true; - if(minAng > maxAng) - { - minAng = btScalar(0.f); - maxAng = SIMD_2_PI; - drawSect = false; - } - if(drawLimits) - { - btVector3& center = tr.getOrigin(); - btVector3 normal = tr.getBasis().getColumn(2); - btVector3 axis = tr.getBasis().getColumn(0); - getDebugDrawer()->drawArc(center, normal, axis, dbgDrawSize, dbgDrawSize, minAng, maxAng, btVector3(0,0,0), drawSect); - } - } - break; - case CONETWIST_CONSTRAINT_TYPE: - { - btConeTwistConstraint* pCT = (btConeTwistConstraint*)constraint; - btTransform tr = pCT->getRigidBodyA().getCenterOfMassTransform() * pCT->getAFrame(); - if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize); - tr = pCT->getRigidBodyB().getCenterOfMassTransform() * pCT->getBFrame(); - if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize); - if(drawLimits) - { - //const btScalar length = btScalar(5); - const btScalar length = dbgDrawSize; - static int nSegments = 8*4; - btScalar fAngleInRadians = btScalar(2.*3.1415926) * (btScalar)(nSegments-1)/btScalar(nSegments); - btVector3 pPrev = pCT->GetPointForAngle(fAngleInRadians, length); - pPrev = tr * pPrev; - for (int i=0; i<nSegments; i++) - { - fAngleInRadians = btScalar(2.*3.1415926) * (btScalar)i/btScalar(nSegments); - btVector3 pCur = pCT->GetPointForAngle(fAngleInRadians, length); - pCur = tr * pCur; - getDebugDrawer()->drawLine(pPrev, pCur, btVector3(0,0,0)); - - if (i%(nSegments/8) == 0) - getDebugDrawer()->drawLine(tr.getOrigin(), pCur, btVector3(0,0,0)); - - pPrev = pCur; - } - btScalar tws = pCT->getTwistSpan(); - btScalar twa = pCT->getTwistAngle(); - bool useFrameB = (pCT->getRigidBodyB().getInvMass() > btScalar(0.f)); - if(useFrameB) - { - tr = pCT->getRigidBodyB().getCenterOfMassTransform() * pCT->getBFrame(); - } - else - { - tr = pCT->getRigidBodyA().getCenterOfMassTransform() * pCT->getAFrame(); - } - btVector3 pivot = tr.getOrigin(); - btVector3 normal = tr.getBasis().getColumn(0); - btVector3 axis1 = tr.getBasis().getColumn(1); - getDebugDrawer()->drawArc(pivot, normal, axis1, dbgDrawSize, dbgDrawSize, -twa-tws, -twa+tws, btVector3(0,0,0), true); - - } - } - break; - case D6_CONSTRAINT_TYPE: - { - btGeneric6DofConstraint* p6DOF = (btGeneric6DofConstraint*)constraint; - btTransform tr = p6DOF->getCalculatedTransformA(); - if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize); - tr = p6DOF->getCalculatedTransformB(); - if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize); - if(drawLimits) - { - tr = p6DOF->getCalculatedTransformA(); - const btVector3& center = p6DOF->getCalculatedTransformB().getOrigin(); - btVector3 up = tr.getBasis().getColumn(2); - btVector3 axis = tr.getBasis().getColumn(0); - btScalar minTh = p6DOF->getRotationalLimitMotor(1)->m_loLimit; - btScalar maxTh = p6DOF->getRotationalLimitMotor(1)->m_hiLimit; - btScalar minPs = p6DOF->getRotationalLimitMotor(2)->m_loLimit; - btScalar maxPs = p6DOF->getRotationalLimitMotor(2)->m_hiLimit; - getDebugDrawer()->drawSpherePatch(center, up, axis, dbgDrawSize * btScalar(.9f), minTh, maxTh, minPs, maxPs, btVector3(0,0,0)); - axis = tr.getBasis().getColumn(1); - btScalar ay = p6DOF->getAngle(1); - btScalar az = p6DOF->getAngle(2); - btScalar cy = btCos(ay); - btScalar sy = btSin(ay); - btScalar cz = btCos(az); - btScalar sz = btSin(az); - btVector3 ref; - ref[0] = cy*cz*axis[0] + cy*sz*axis[1] - sy*axis[2]; - ref[1] = -sz*axis[0] + cz*axis[1]; - ref[2] = cz*sy*axis[0] + sz*sy*axis[1] + cy*axis[2]; - tr = p6DOF->getCalculatedTransformB(); - btVector3 normal = -tr.getBasis().getColumn(0); - btScalar minFi = p6DOF->getRotationalLimitMotor(0)->m_loLimit; - btScalar maxFi = p6DOF->getRotationalLimitMotor(0)->m_hiLimit; - if(minFi > maxFi) - { - getDebugDrawer()->drawArc(center, normal, ref, dbgDrawSize, dbgDrawSize, -SIMD_PI, SIMD_PI, btVector3(0,0,0), false); - } - else if(minFi < maxFi) - { - getDebugDrawer()->drawArc(center, normal, ref, dbgDrawSize, dbgDrawSize, minFi, maxFi, btVector3(0,0,0), true); - } - tr = p6DOF->getCalculatedTransformA(); - btVector3 bbMin = p6DOF->getTranslationalLimitMotor()->m_lowerLimit; - btVector3 bbMax = p6DOF->getTranslationalLimitMotor()->m_upperLimit; - getDebugDrawer()->drawBox(bbMin, bbMax, tr, btVector3(0,0,0)); - } - } - break; - case SLIDER_CONSTRAINT_TYPE: - { - btSliderConstraint* pSlider = (btSliderConstraint*)constraint; - btTransform tr = pSlider->getCalculatedTransformA(); - if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize); - tr = pSlider->getCalculatedTransformB(); - if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize); - if(drawLimits) - { - btTransform tr = pSlider->getUseLinearReferenceFrameA() ? pSlider->getCalculatedTransformA() : pSlider->getCalculatedTransformB(); - btVector3 li_min = tr * btVector3(pSlider->getLowerLinLimit(), 0.f, 0.f); - btVector3 li_max = tr * btVector3(pSlider->getUpperLinLimit(), 0.f, 0.f); - getDebugDrawer()->drawLine(li_min, li_max, btVector3(0, 0, 0)); - btVector3 normal = tr.getBasis().getColumn(0); - btVector3 axis = tr.getBasis().getColumn(1); - btScalar a_min = pSlider->getLowerAngLimit(); - btScalar a_max = pSlider->getUpperAngLimit(); - const btVector3& center = pSlider->getCalculatedTransformB().getOrigin(); - getDebugDrawer()->drawArc(center, normal, axis, dbgDrawSize, dbgDrawSize, a_min, a_max, btVector3(0,0,0), true); - } - } - break; - default : - break; - } - return; -} - - - - - -void btDiscreteDynamicsWorld::setConstraintSolver(btConstraintSolver* solver) -{ - if (m_ownsConstraintSolver) - { - btAlignedFree( m_constraintSolver); - } - m_ownsConstraintSolver = false; - m_constraintSolver = solver; -} - -btConstraintSolver* btDiscreteDynamicsWorld::getConstraintSolver() -{ - return m_constraintSolver; -} - - -int btDiscreteDynamicsWorld::getNumConstraints() const -{ - return int(m_constraints.size()); -} -btTypedConstraint* btDiscreteDynamicsWorld::getConstraint(int index) -{ - return m_constraints[index]; -} -const btTypedConstraint* btDiscreteDynamicsWorld::getConstraint(int index) const -{ - return m_constraints[index]; -} - - - -void btDiscreteDynamicsWorld::serializeRigidBodies(btSerializer* serializer) -{ - int i; - //serialize all collision objects - for (i=0;i<m_collisionObjects.size();i++) - { - btCollisionObject* colObj = m_collisionObjects[i]; - if (colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) - { - int len = colObj->calculateSerializeBufferSize(); - btChunk* chunk = serializer->allocate(len,1); - const char* structType = colObj->serialize(chunk->m_oldPtr, serializer); - serializer->finalizeChunk(chunk,structType,BT_RIGIDBODY_CODE,colObj); - } - } - - for (i=0;i<m_constraints.size();i++) - { - btTypedConstraint* constraint = m_constraints[i]; - int size = constraint->calculateSerializeBufferSize(); - btChunk* chunk = serializer->allocate(size,1); - const char* structType = constraint->serialize(chunk->m_oldPtr,serializer); - serializer->finalizeChunk(chunk,structType,BT_CONSTRAINT_CODE,constraint); - } -} - - -void btDiscreteDynamicsWorld::serialize(btSerializer* serializer) -{ - - serializer->startSerialization(); - - serializeRigidBodies(serializer); - - serializeCollisionObjects(serializer); - - serializer->finishSerialization(); -} - |