diff options
Diffstat (limited to 'source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp')
-rw-r--r-- | source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp | 24 |
1 files changed, 15 insertions, 9 deletions
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp index d2274c1e8d6..dd21e58bd68 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp +++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp @@ -317,8 +317,8 @@ static void DrawAabb(btIDebugDraw* debugDrawer,const btVector3& from,const btVec CcdPhysicsEnvironment::CcdPhysicsEnvironment(btDispatcher* dispatcher,btOverlappingPairCache* pairCache) -:m_scalingPropagated(false), -m_numIterations(10), +:m_numIterations(10), +m_scalingPropagated(false), m_numTimeSubSteps(1), m_ccdMode(0), m_solverType(-1), @@ -326,8 +326,8 @@ m_profileTimings(0), m_enableSatCollisionDetection(false), m_solver(NULL), m_ownPairCache(NULL), -m_ownDispatcher(NULL), -m_filterCallback(NULL) +m_filterCallback(NULL), +m_ownDispatcher(NULL) { for (int i=0;i<PHY_NUM_RESPONSE;i++) @@ -337,6 +337,7 @@ m_filterCallback(NULL) // m_collisionConfiguration = new btDefaultCollisionConfiguration(); m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration(); + //m_collisionConfiguration->setConvexConvexMultipointIterations(); if (!dispatcher) { @@ -356,6 +357,8 @@ m_filterCallback(NULL) setSolverType(1);//issues with quickstep and memory allocations // m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,m_broadphase,m_solver,m_collisionConfiguration); m_dynamicsWorld = new btSoftRigidDynamicsWorld(dispatcher,m_broadphase,m_solver,m_collisionConfiguration); + //m_dynamicsWorld->getSolverInfo().m_linearSlop = 0.01f; + //m_dynamicsWorld->getSolverInfo().m_solverMode= SOLVER_USE_WARMSTARTING + SOLVER_USE_2_FRICTION_DIRECTIONS + SOLVER_RANDMIZE_ORDER + SOLVER_USE_FRICTION_WARMSTARTING; m_debugDrawer = 0; m_gravity = btVector3(0.f,-10.f,0.f); @@ -414,7 +417,7 @@ void CcdPhysicsEnvironment::addCcdPhysicsController(CcdPhysicsController* ctrl) const btTransform& t = ctrl->GetCollisionObject()->getWorldTransform(); - btPoint3 minAabb,maxAabb; + btVector3 minAabb,maxAabb; shapeinterface->getAabb(t,minAabb,maxAabb); @@ -560,6 +563,11 @@ void CcdPhysicsEnvironment::beginFrame() } +void CcdPhysicsEnvironment::debugDrawWorld() +{ + if (m_dynamicsWorld->getDebugDrawer() && m_dynamicsWorld->getDebugDrawer()->getDebugMode() >0) + m_dynamicsWorld->debugDrawWorld(); +} bool CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep) { @@ -596,9 +604,6 @@ bool CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep) veh->SyncWheels(); } - if (m_dynamicsWorld->getDebugDrawer() && m_dynamicsWorld->getDebugDrawer()->getDebugMode() >0) - m_dynamicsWorld->debugDrawWorld(); - CallbackTriggers(); @@ -845,7 +850,8 @@ void CcdPhysicsEnvironment::setSolverType(int solverType) { m_solver = new btSequentialImpulseConstraintSolver(); -// ((btSequentialImpulseConstraintSolver*)m_solver)->setSolverMode(btSequentialImpulseConstraintSolver::SOLVER_USE_WARMSTARTING | btSequentialImpulseConstraintSolver::SOLVER_RANDMIZE_ORDER); + + break; } } |