diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h')
| -rw-r--r-- | extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h | 230 |
1 files changed, 209 insertions, 21 deletions
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h b/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h index da1fcb78611..5a7ba97ccbc 100644 --- a/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h +++ b/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h @@ -29,6 +29,20 @@ class btTypedConstraint; extern btScalar gDeactivationTime; extern bool gDisableDeactivation; +#ifdef BT_USE_DOUBLE_PRECISION +#define btRigidBodyData btRigidBodyDoubleData +#define btRigidBodyDataName "btRigidBodyDoubleData" +#else +#define btRigidBodyData btRigidBodyFloatData +#define btRigidBodyDataName "btRigidBodyFloatData" +#endif //BT_USE_DOUBLE_PRECISION + + +enum btRigidBodyFlags +{ + BT_DISABLE_WORLD_GRAVITY = 1 +}; + ///The btRigidBody is the main class for rigid body objects. It is derived from btCollisionObject, so it keeps a pointer to a btCollisionShape. ///It is recommended for performance and memory use to share btCollisionShape objects whenever possible. @@ -45,7 +59,6 @@ class btRigidBody : public btCollisionObject btVector3 m_linearVelocity; btVector3 m_angularVelocity; btScalar m_inverseMass; - btVector3 m_angularFactor; btVector3 m_linearFactor; btVector3 m_gravity; @@ -73,6 +86,21 @@ class btRigidBody : public btCollisionObject //keep track of typed constraints referencing this rigid body btAlignedObjectArray<btTypedConstraint*> m_constraintRefs; + int m_rigidbodyFlags; + + int m_debugBodyId; + + +protected: + + ATTRIBUTE_ALIGNED64(btVector3 m_deltaLinearVelocity); + btVector3 m_deltaAngularVelocity; + btVector3 m_angularFactor; + btVector3 m_invMass; + btVector3 m_pushVelocity; + btVector3 m_turnVelocity; + + public: @@ -111,7 +139,6 @@ public: btScalar m_additionalAngularDampingThresholdSqr; btScalar m_additionalAngularDampingFactor; - btRigidBodyConstructionInfo( btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0)): m_mass(mass), m_motionState(motionState), @@ -161,13 +188,13 @@ public: ///but a rigidbody is derived from btCollisionObject, so we can safely perform an upcast static const btRigidBody* upcast(const btCollisionObject* colObj) { - if (colObj->getInternalType()==btCollisionObject::CO_RIGID_BODY) + if (colObj->getInternalType()&btCollisionObject::CO_RIGID_BODY) return (const btRigidBody*)colObj; return 0; } static btRigidBody* upcast(btCollisionObject* colObj) { - if (colObj->getInternalType()==btCollisionObject::CO_RIGID_BODY) + if (colObj->getInternalType()&btCollisionObject::CO_RIGID_BODY) return (btRigidBody*)colObj; return 0; } @@ -227,6 +254,7 @@ public: void setLinearFactor(const btVector3& linearFactor) { m_linearFactor = linearFactor; + m_invMass = m_linearFactor*m_inverseMass; } btScalar getInvMass() const { return m_inverseMass; } const btMatrix3x3& getInvInertiaTensorWorld() const { @@ -242,12 +270,12 @@ public: m_totalForce += force*m_linearFactor; } - const btVector3& getTotalForce() + const btVector3& getTotalForce() const { return m_totalForce; }; - const btVector3& getTotalTorque() + const btVector3& getTotalTorque() const { return m_totalTorque; }; @@ -301,19 +329,6 @@ public: } } - //Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position - SIMD_FORCE_INLINE void internalApplyImpulse(const btVector3& linearComponent, const btVector3& angularComponent,btScalar impulseMagnitude) - { - if (m_inverseMass != btScalar(0.)) - { - m_linearVelocity += linearComponent*m_linearFactor*impulseMagnitude; - if (m_angularFactor) - { - m_angularVelocity += angularComponent*m_angularFactor*impulseMagnitude; - } - } - } - void clearForces() { m_totalForce.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0)); @@ -489,12 +504,185 @@ public: return m_constraintRefs[index]; } - int getNumConstraintRefs() + int getNumConstraintRefs() const { return m_constraintRefs.size(); } - int m_debugBodyId; + void setFlags(int flags) + { + m_rigidbodyFlags = flags; + } + + int getFlags() const + { + return m_rigidbodyFlags; + } + + const btVector3& getDeltaLinearVelocity() const + { + return m_deltaLinearVelocity; + } + + const btVector3& getDeltaAngularVelocity() const + { + return m_deltaAngularVelocity; + } + + const btVector3& getPushVelocity() const + { + return m_pushVelocity; + } + + const btVector3& getTurnVelocity() const + { + return m_turnVelocity; + } + + + //////////////////////////////////////////////// + ///some internal methods, don't use them + + btVector3& internalGetDeltaLinearVelocity() + { + return m_deltaLinearVelocity; + } + + btVector3& internalGetDeltaAngularVelocity() + { + return m_deltaAngularVelocity; + } + + const btVector3& internalGetAngularFactor() const + { + return m_angularFactor; + } + + const btVector3& internalGetInvMass() const + { + return m_invMass; + } + + btVector3& internalGetPushVelocity() + { + return m_pushVelocity; + } + + btVector3& internalGetTurnVelocity() + { + return m_turnVelocity; + } + + SIMD_FORCE_INLINE void internalGetVelocityInLocalPointObsolete(const btVector3& rel_pos, btVector3& velocity ) const + { + velocity = getLinearVelocity()+m_deltaLinearVelocity + (getAngularVelocity()+m_deltaAngularVelocity).cross(rel_pos); + } + + SIMD_FORCE_INLINE void internalGetAngularVelocity(btVector3& angVel) const + { + angVel = getAngularVelocity()+m_deltaAngularVelocity; + } + + + //Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position + SIMD_FORCE_INLINE void internalApplyImpulse(const btVector3& linearComponent, const btVector3& angularComponent,const btScalar impulseMagnitude) + { + if (m_inverseMass) + { + m_deltaLinearVelocity += linearComponent*impulseMagnitude; + m_deltaAngularVelocity += angularComponent*(impulseMagnitude*m_angularFactor); + } + } + + SIMD_FORCE_INLINE void internalApplyPushImpulse(const btVector3& linearComponent, const btVector3& angularComponent,btScalar impulseMagnitude) + { + if (m_inverseMass) + { + m_pushVelocity += linearComponent*impulseMagnitude; + m_turnVelocity += angularComponent*(impulseMagnitude*m_angularFactor); + } + } + + void internalWritebackVelocity() + { + if (m_inverseMass) + { + setLinearVelocity(getLinearVelocity()+ m_deltaLinearVelocity); + setAngularVelocity(getAngularVelocity()+m_deltaAngularVelocity); + //m_deltaLinearVelocity.setZero(); + //m_deltaAngularVelocity .setZero(); + //m_originalBody->setCompanionId(-1); + } + } + + + void internalWritebackVelocity(btScalar timeStep); + + + + /////////////////////////////////////////////// + + virtual int calculateSerializeBufferSize() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, class btSerializer* serializer) const; + + virtual void serializeSingleObject(class btSerializer* serializer) const; + +}; + +//@todo add m_optionalMotionState and m_constraintRefs to btRigidBodyData +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btRigidBodyFloatData +{ + btCollisionObjectFloatData m_collisionObjectData; + btMatrix3x3FloatData m_invInertiaTensorWorld; + btVector3FloatData m_linearVelocity; + btVector3FloatData m_angularVelocity; + btVector3FloatData m_angularFactor; + btVector3FloatData m_linearFactor; + btVector3FloatData m_gravity; + btVector3FloatData m_gravity_acceleration; + btVector3FloatData m_invInertiaLocal; + btVector3FloatData m_totalForce; + btVector3FloatData m_totalTorque; + float m_inverseMass; + float m_linearDamping; + float m_angularDamping; + float m_additionalDampingFactor; + float m_additionalLinearDampingThresholdSqr; + float m_additionalAngularDampingThresholdSqr; + float m_additionalAngularDampingFactor; + float m_linearSleepingThreshold; + float m_angularSleepingThreshold; + int m_additionalDamping; +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btRigidBodyDoubleData +{ + btCollisionObjectDoubleData m_collisionObjectData; + btMatrix3x3DoubleData m_invInertiaTensorWorld; + btVector3DoubleData m_linearVelocity; + btVector3DoubleData m_angularVelocity; + btVector3DoubleData m_angularFactor; + btVector3DoubleData m_linearFactor; + btVector3DoubleData m_gravity; + btVector3DoubleData m_gravity_acceleration; + btVector3DoubleData m_invInertiaLocal; + btVector3DoubleData m_totalForce; + btVector3DoubleData m_totalTorque; + double m_inverseMass; + double m_linearDamping; + double m_angularDamping; + double m_additionalDampingFactor; + double m_additionalLinearDampingThresholdSqr; + double m_additionalAngularDampingThresholdSqr; + double m_additionalAngularDampingFactor; + double m_linearSleepingThreshold; + double m_angularSleepingThreshold; + int m_additionalDamping; + char m_padding[4]; }; |