diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp')
-rw-r--r-- | extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp | 95 |
1 files changed, 90 insertions, 5 deletions
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp b/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp index a4d8e1d77f6..aefb26a1be2 100644 --- a/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp +++ b/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp @@ -19,6 +19,7 @@ subject to the following restrictions: #include "LinearMath/btTransformUtil.h" #include "LinearMath/btMotionState.h" #include "BulletDynamics/ConstraintSolver/btTypedConstraint.h" +#include "LinearMath/btSerializer.h" //'temporarily' global variables btScalar gDeactivationTime = btScalar(2.); @@ -50,8 +51,8 @@ void btRigidBody::setupRigidBody(const btRigidBody::btRigidBodyConstructionInfo& m_gravity_acceleration.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0)); m_totalForce.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0)); m_totalTorque.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0)), - m_linearDamping = btScalar(0.); - m_angularDamping = btScalar(0.5); + setDamping(constructionInfo.m_linearDamping, constructionInfo.m_angularDamping); + m_linearSleepingThreshold = constructionInfo.m_linearSleepingThreshold; m_angularSleepingThreshold = constructionInfo.m_angularSleepingThreshold; m_optionalMotionState = constructionInfo.m_motionState; @@ -83,9 +84,19 @@ void btRigidBody::setupRigidBody(const btRigidBody::btRigidBodyConstructionInfo& m_debugBodyId = uniqueId++; setMassProps(constructionInfo.m_mass, constructionInfo.m_localInertia); - setDamping(constructionInfo.m_linearDamping, constructionInfo.m_angularDamping); updateInertiaTensor(); + m_rigidbodyFlags = 0; + + + m_deltaLinearVelocity.setZero(); + m_deltaAngularVelocity.setZero(); + m_invMass = m_inverseMass*m_linearFactor; + m_pushVelocity.setZero(); + m_turnVelocity.setZero(); + + + } @@ -136,8 +147,8 @@ void btRigidBody::setGravity(const btVector3& acceleration) void btRigidBody::setDamping(btScalar lin_damping, btScalar ang_damping) { - m_linearDamping = GEN_clamped(lin_damping, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0)); - m_angularDamping = GEN_clamped(ang_damping, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0)); + m_linearDamping = btClamped(lin_damping, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0)); + m_angularDamping = btClamped(ang_damping, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0)); } @@ -227,11 +238,15 @@ void btRigidBody::setMassProps(btScalar mass, const btVector3& inertia) m_collisionFlags &= (~btCollisionObject::CF_STATIC_OBJECT); m_inverseMass = btScalar(1.0) / mass; } + + //Fg = m * a + m_gravity = mass * m_gravity_acceleration; m_invInertiaLocal.setValue(inertia.x() != btScalar(0.0) ? btScalar(1.0) / inertia.x(): btScalar(0.0), inertia.y() != btScalar(0.0) ? btScalar(1.0) / inertia.y(): btScalar(0.0), inertia.z() != btScalar(0.0) ? btScalar(1.0) / inertia.z(): btScalar(0.0)); + m_invMass = m_linearFactor*m_inverseMass; } @@ -301,6 +316,28 @@ bool btRigidBody::checkCollideWithOverride(btCollisionObject* co) return true; } +void btRigidBody::internalWritebackVelocity(btScalar timeStep) +{ + (void) timeStep; + if (m_inverseMass) + { + setLinearVelocity(getLinearVelocity()+ m_deltaLinearVelocity); + setAngularVelocity(getAngularVelocity()+m_deltaAngularVelocity); + + //correct the position/orientation based on push/turn recovery + btTransform newTransform; + btTransformUtil::integrateTransform(getWorldTransform(),m_pushVelocity,m_turnVelocity,timeStep,newTransform); + setWorldTransform(newTransform); + //m_originalBody->setCompanionId(-1); + } +// m_deltaLinearVelocity.setZero(); +// m_deltaAngularVelocity .setZero(); +// m_pushVelocity.setZero(); +// m_turnVelocity.setZero(); +} + + + void btRigidBody::addConstraintRef(btTypedConstraint* c) { int index = m_constraintRefs.findLinearSearch(c); @@ -315,3 +352,51 @@ void btRigidBody::removeConstraintRef(btTypedConstraint* c) m_constraintRefs.remove(c); m_checkCollideWith = m_constraintRefs.size() > 0; } + +int btRigidBody::calculateSerializeBufferSize() const +{ + int sz = sizeof(btRigidBodyData); + return sz; +} + + ///fills the dataBuffer and returns the struct name (and 0 on failure) +const char* btRigidBody::serialize(void* dataBuffer, class btSerializer* serializer) const +{ + btRigidBodyData* rbd = (btRigidBodyData*) dataBuffer; + + btCollisionObject::serialize(&rbd->m_collisionObjectData, serializer); + + m_invInertiaTensorWorld.serialize(rbd->m_invInertiaTensorWorld); + m_linearVelocity.serialize(rbd->m_linearVelocity); + m_angularVelocity.serialize(rbd->m_angularVelocity); + rbd->m_inverseMass = m_inverseMass; + m_angularFactor.serialize(rbd->m_angularFactor); + m_linearFactor.serialize(rbd->m_linearFactor); + m_gravity.serialize(rbd->m_gravity); + m_gravity_acceleration.serialize(rbd->m_gravity_acceleration); + m_invInertiaLocal.serialize(rbd->m_invInertiaLocal); + m_totalForce.serialize(rbd->m_totalForce); + m_totalTorque.serialize(rbd->m_totalTorque); + rbd->m_linearDamping = m_linearDamping; + rbd->m_angularDamping = m_angularDamping; + rbd->m_additionalDamping = m_additionalDamping; + rbd->m_additionalDampingFactor = m_additionalDampingFactor; + rbd->m_additionalLinearDampingThresholdSqr = m_additionalLinearDampingThresholdSqr; + rbd->m_additionalAngularDampingThresholdSqr = m_additionalAngularDampingThresholdSqr; + rbd->m_additionalAngularDampingFactor = m_additionalAngularDampingFactor; + rbd->m_linearSleepingThreshold=m_linearSleepingThreshold; + rbd->m_angularSleepingThreshold = m_angularSleepingThreshold; + + return btRigidBodyDataName; +} + + + +void btRigidBody::serializeSingleObject(class btSerializer* serializer) const +{ + btChunk* chunk = serializer->allocate(calculateSerializeBufferSize(),1); + const char* structType = serialize(chunk->m_oldPtr, serializer); + serializer->finalizeChunk(chunk,structType,BT_RIGIDBODY_CODE,(void*)this); +} + + |