diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp | 39 |
1 files changed, 16 insertions, 23 deletions
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp index 9ff2d9f1173..fb8a4068e23 100644 --- a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp +++ b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp @@ -87,7 +87,6 @@ struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCal btTypedConstraint** m_sortedConstraints; int m_numConstraints; btIDebugDraw* m_debugDrawer; - btStackAlloc* m_stackAlloc; btDispatcher* m_dispatcher; btAlignedObjectArray<btCollisionObject*> m_bodies; @@ -104,7 +103,6 @@ struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCal m_sortedConstraints(NULL), m_numConstraints(0), m_debugDrawer(NULL), - m_stackAlloc(stackAlloc), m_dispatcher(dispatcher) { @@ -135,7 +133,7 @@ struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCal if (islandId<0) { ///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); + m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,&m_sortedConstraints[0],m_numConstraints,*m_solverInfo,m_debugDrawer,m_dispatcher); } else { //also add all non-contact constraints/joints for this island @@ -163,7 +161,7 @@ struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCal if (m_solverInfo->m_minimumSolverBatchSize<=1) { - m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,*m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher); + m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,*m_solverInfo,m_debugDrawer,m_dispatcher); } else { @@ -190,7 +188,7 @@ struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCal btPersistentManifold** manifold = m_manifolds.size()?&m_manifolds[0]:0; btTypedConstraint** constraints = m_constraints.size()?&m_constraints[0]:0; - m_solver->solveGroup( bodies,m_bodies.size(),manifold, m_manifolds.size(),constraints, m_constraints.size() ,*m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher); + m_solver->solveGroup( bodies,m_bodies.size(),manifold, m_manifolds.size(),constraints, m_constraints.size() ,*m_solverInfo,m_debugDrawer,m_dispatcher); m_bodies.resize(0); m_manifolds.resize(0); m_constraints.resize(0); @@ -210,7 +208,9 @@ m_gravity(0,-10,0), m_localTime(0), m_synchronizeAllMotionStates(false), m_applySpeculativeContactRestitution(false), -m_profileTimings(0) +m_profileTimings(0), +m_fixedTimeStep(0), +m_latencyMotionStateInterpolation(true) { if (!m_constraintSolver) @@ -232,7 +232,7 @@ m_profileTimings(0) { void* mem = btAlignedAlloc(sizeof(InplaceSolverIslandCallback),16); - m_solverIslandCallback = new (mem) InplaceSolverIslandCallback (m_constraintSolver, m_stackAlloc, dispatcher); + m_solverIslandCallback = new (mem) InplaceSolverIslandCallback (m_constraintSolver, 0, dispatcher); } } @@ -359,7 +359,9 @@ void btDiscreteDynamicsWorld::synchronizeSingleMotionState(btRigidBody* body) { btTransform interpolatedTransform; btTransformUtil::integrateTransform(body->getInterpolationWorldTransform(), - body->getInterpolationLinearVelocity(),body->getInterpolationAngularVelocity(),m_localTime*body->getHitFraction(),interpolatedTransform); + body->getInterpolationLinearVelocity(),body->getInterpolationAngularVelocity(), + (m_latencyMotionStateInterpolation && m_fixedTimeStep) ? m_localTime - m_fixedTimeStep : m_localTime*body->getHitFraction(), + interpolatedTransform); body->getMotionState()->setWorldTransform(interpolatedTransform); } } @@ -403,6 +405,7 @@ int btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, if (maxSubSteps) { //fixed timestep with interpolation + m_fixedTimeStep = fixedTimeStep; m_localTime += timeStep; if (m_localTime >= fixedTimeStep) { @@ -413,7 +416,8 @@ int btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, { //variable timestep fixedTimeStep = timeStep; - m_localTime = timeStep; + m_localTime = m_latencyMotionStateInterpolation ? 0 : timeStep; + m_fixedTimeStep = 0; if (btFuzzyZero(timeStep)) { numSimulationSubSteps = 0; @@ -724,7 +728,7 @@ void btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo) m_solverIslandCallback->processConstraints(); - m_constraintSolver->allSolved(solverInfo, m_debugDrawer, m_stackAlloc); + m_constraintSolver->allSolved(solverInfo, m_debugDrawer); } @@ -746,12 +750,7 @@ void btDiscreteDynamicsWorld::calculateSimulationIslands() if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) && ((colObj1) && (!(colObj1)->isStaticOrKinematicObject()))) { - if (colObj0->isActive() || colObj1->isActive()) - { - - getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(), - (colObj1)->getIslandTag()); - } + getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(),(colObj1)->getIslandTag()); } } } @@ -770,12 +769,7 @@ void btDiscreteDynamicsWorld::calculateSimulationIslands() if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) && ((colObj1) && (!(colObj1)->isStaticOrKinematicObject()))) { - if (colObj0->isActive() || colObj1->isActive()) - { - - getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(), - (colObj1)->getIslandTag()); - } + getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(),(colObj1)->getIslandTag()); } } } @@ -1131,7 +1125,6 @@ void btDiscreteDynamicsWorld::predictUnconstraintMotion(btScalar timeStep) { //don't integrate/update velocities here, it happens in the constraint solver - //damping body->applyDamping(timeStep); body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform()); |