From abb338ddf9dea9a26ca1092b3f7fda86b32bbd16 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Mon, 9 Mar 2009 04:21:28 +0000 Subject: upgrade to latest Bullet trunk, fix related to vehicle anti-roll, added constraint visualization. This commit doesn't add new functionality, but more updates are planned before Blender 2.49 release. --- .../btSequentialImpulseConstraintSolver.cpp | 36 ++++---- .../btSequentialImpulseConstraintSolver.h | 5 +- .../BulletDynamics/ConstraintSolver/btSolverBody.h | 6 +- .../ConstraintSolver/btTypedConstraint.h | 1 - .../BulletDynamics/Dynamics/btActionInterface.h | 39 ++++++++ .../Dynamics/btContinuousDynamicsWorld.cpp | 3 +- .../Dynamics/btDiscreteDynamicsWorld.cpp | 102 +++++++-------------- .../Dynamics/btDiscreteDynamicsWorld.h | 39 ++++---- .../src/BulletDynamics/Dynamics/btDynamicsWorld.h | 23 +++-- .../src/BulletDynamics/Dynamics/btRigidBody.cpp | 3 +- .../src/BulletDynamics/Dynamics/btRigidBody.h | 36 +++++--- .../BulletDynamics/Vehicle/btRaycastVehicle.cpp | 39 +++++++- .../src/BulletDynamics/Vehicle/btRaycastVehicle.h | 43 ++++++--- extern/bullet2/src/LinearMath/btConvexHull.cpp | 8 +- 14 files changed, 222 insertions(+), 161 deletions(-) create mode 100644 extern/bullet2/src/BulletDynamics/Dynamics/btActionInterface.h (limited to 'extern/bullet2/src') diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp index 6928bdb966b..685a812d427 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp @@ -76,8 +76,8 @@ void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD( __m128 upperMinApplied = _mm_sub_ps(upperLimit1,cpAppliedImp); deltaImpulse = _mm_or_ps( _mm_and_ps(resultUpperLess, deltaImpulse), _mm_andnot_ps(resultUpperLess, upperMinApplied) ); c.m_appliedImpulse = _mm_or_ps( _mm_and_ps(resultUpperLess, c.m_appliedImpulse), _mm_andnot_ps(resultUpperLess, upperLimit1) ); - __m128 linearComponentA = _mm_mul_ps(c.m_contactNormal.mVec128,_mm_set1_ps(body1.m_invMass)); - __m128 linearComponentB = _mm_mul_ps((c.m_contactNormal).mVec128,_mm_set1_ps(body2.m_invMass)); + __m128 linearComponentA = _mm_mul_ps(c.m_contactNormal.mVec128,body1.m_invMass.mVec128); + __m128 linearComponentB = _mm_mul_ps((c.m_contactNormal).mVec128,body2.m_invMass.mVec128); __m128 impulseMagnitude = deltaImpulse; body1.m_deltaLinearVelocity.mVec128 = _mm_add_ps(body1.m_deltaLinearVelocity.mVec128,_mm_mul_ps(linearComponentA,impulseMagnitude)); body1.m_deltaAngularVelocity.mVec128 = _mm_add_ps(body1.m_deltaAngularVelocity.mVec128 ,_mm_mul_ps(c.m_angularComponentA.mVec128,impulseMagnitude)); @@ -114,9 +114,7 @@ void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD( { c.m_appliedImpulse = sum; } - if (body1.m_invMass) body1.applyImpulse(c.m_contactNormal*body1.m_invMass,c.m_angularComponentA,deltaImpulse); - if (body2.m_invMass) body2.applyImpulse(-c.m_contactNormal*body2.m_invMass,c.m_angularComponentB,deltaImpulse); } @@ -138,8 +136,8 @@ void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD( __m128 lowMinApplied = _mm_sub_ps(lowerLimit1,cpAppliedImp); deltaImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowMinApplied), _mm_andnot_ps(resultLowerLess, deltaImpulse) ); c.m_appliedImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum) ); - __m128 linearComponentA = _mm_mul_ps(c.m_contactNormal.mVec128,_mm_set1_ps(body1.m_invMass)); - __m128 linearComponentB = _mm_mul_ps((c.m_contactNormal).mVec128,_mm_set1_ps(body2.m_invMass)); + __m128 linearComponentA = _mm_mul_ps(c.m_contactNormal.mVec128,body1.m_invMass.mVec128); + __m128 linearComponentB = _mm_mul_ps((c.m_contactNormal).mVec128,body2.m_invMass.mVec128); __m128 impulseMagnitude = deltaImpulse; body1.m_deltaLinearVelocity.mVec128 = _mm_add_ps(body1.m_deltaLinearVelocity.mVec128,_mm_mul_ps(linearComponentA,impulseMagnitude)); body1.m_deltaAngularVelocity.mVec128 = _mm_add_ps(body1.m_deltaAngularVelocity.mVec128 ,_mm_mul_ps(c.m_angularComponentA.mVec128,impulseMagnitude)); @@ -169,10 +167,8 @@ void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD( { c.m_appliedImpulse = sum; } - if (body1.m_invMass) - body1.applyImpulse(c.m_contactNormal*body1.m_invMass,c.m_angularComponentA,deltaImpulse); - if (body2.m_invMass) - body2.applyImpulse(-c.m_contactNormal*body2.m_invMass,c.m_angularComponentB,deltaImpulse); + body1.applyImpulse(c.m_contactNormal*body1.m_invMass,c.m_angularComponentA,deltaImpulse); + body2.applyImpulse(-c.m_contactNormal*body2.m_invMass,c.m_angularComponentB,deltaImpulse); } @@ -224,14 +220,14 @@ void btSequentialImpulseConstraintSolver::initSolverBody(btSolverBody* solverBod if (rb) { - solverBody->m_invMass = rb->getInvMass(); + solverBody->m_invMass = btVector3(rb->getInvMass(),rb->getInvMass(),rb->getInvMass())*rb->getLinearFactor(); solverBody->m_originalBody = rb; solverBody->m_angularFactor = rb->getAngularFactor(); } else { - solverBody->m_invMass = 0.f; + solverBody->m_invMass.setValue(0,0,0); solverBody->m_originalBody = 0; - solverBody->m_angularFactor = 1.f; + solverBody->m_angularFactor.setValue(1,1,1); } } @@ -394,6 +390,10 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m solverBodyIdB = getOrInitSolverBody(*colObj1); } + ///avoid collision response between two static objects + if (!solverBodyIdA && !solverBodyIdB) + return; + btVector3 rel_pos1; btVector3 rel_pos2; btScalar relaxation; @@ -490,13 +490,13 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m ///warm starting (or zero if disabled) - if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) + if (0)//infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) { solverConstraint.m_appliedImpulse = cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor; if (rb0) - m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdA].applyImpulse(solverConstraint.m_contactNormal*rb0->getInvMass(),solverConstraint.m_angularComponentA,solverConstraint.m_appliedImpulse); + m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdA].applyImpulse(solverConstraint.m_contactNormal*rb0->getInvMass()*rb0->getLinearFactor(),solverConstraint.m_angularComponentA,solverConstraint.m_appliedImpulse); if (rb1) - m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdB].applyImpulse(solverConstraint.m_contactNormal*rb1->getInvMass(),-solverConstraint.m_angularComponentB,-solverConstraint.m_appliedImpulse); + m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdB].applyImpulse(solverConstraint.m_contactNormal*rb1->getInvMass()*rb1->getLinearFactor(),-solverConstraint.m_angularComponentB,-solverConstraint.m_appliedImpulse); } else { solverConstraint.m_appliedImpulse = 0.f; @@ -583,9 +583,9 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m { frictionConstraint1.m_appliedImpulse = cp.m_appliedImpulseLateral1 * infoGlobal.m_warmstartingFactor; if (rb0) - m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdA].applyImpulse(frictionConstraint1.m_contactNormal*rb0->getInvMass(),frictionConstraint1.m_angularComponentA,frictionConstraint1.m_appliedImpulse); + m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdA].applyImpulse(frictionConstraint1.m_contactNormal*rb0->getInvMass()*rb0->getLinearFactor(),frictionConstraint1.m_angularComponentA,frictionConstraint1.m_appliedImpulse); if (rb1) - m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdB].applyImpulse(frictionConstraint1.m_contactNormal*rb1->getInvMass(),-frictionConstraint1.m_angularComponentB,-frictionConstraint1.m_appliedImpulse); + m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdB].applyImpulse(frictionConstraint1.m_contactNormal*rb1->getInvMass()*rb1->getLinearFactor(),-frictionConstraint1.m_angularComponentB,-frictionConstraint1.m_appliedImpulse); } else { frictionConstraint1.m_appliedImpulse = 0.f; diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h index 467e37bb91f..90e7fc8354d 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h @@ -24,10 +24,7 @@ class btIDebugDraw; -///The btSequentialImpulseConstraintSolver uses a Propagation Method and Sequentially applies impulses -///The approach is the 3D version of Erin Catto's GDC 2006 tutorial. See http://www.gphysics.com -///Although Sequential Impulse is more intuitive, it is mathematically equivalent to Projected Successive Overrelaxation (iterative LCP) -///Applies impulses for combined restitution and penetration recovery and to simulate friction +///The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (iterative LCP) method. class btSequentialImpulseConstraintSolver : public btConstraintSolver { protected: diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverBody.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverBody.h index 98c9876ae46..6b728959162 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverBody.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverBody.h @@ -110,8 +110,8 @@ ATTRIBUTE_ALIGNED16 (struct) btSolverBody BT_DECLARE_ALIGNED_ALLOCATOR(); btVector3 m_deltaLinearVelocity; btVector3 m_deltaAngularVelocity; - btScalar m_angularFactor; - btScalar m_invMass; + btVector3 m_angularFactor; + btVector3 m_invMass; btScalar m_friction; btRigidBody* m_originalBody; btVector3 m_pushVelocity; @@ -162,7 +162,7 @@ ATTRIBUTE_ALIGNED16 (struct) btSolverBody void writebackVelocity(btScalar timeStep=0) { - if (m_invMass) + if (m_originalBody) { m_originalBody->setLinearVelocity(m_originalBody->getLinearVelocity()+m_deltaLinearVelocity); m_originalBody->setAngularVelocity(m_originalBody->getAngularVelocity()+m_deltaAngularVelocity); diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h index 78a770231b3..14cbe831b40 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h @@ -30,7 +30,6 @@ enum btTypedConstraintType HINGE_CONSTRAINT_TYPE, CONETWIST_CONSTRAINT_TYPE, D6_CONSTRAINT_TYPE, - VEHICLE_CONSTRAINT_TYPE, SLIDER_CONSTRAINT_TYPE }; diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btActionInterface.h b/extern/bullet2/src/BulletDynamics/Dynamics/btActionInterface.h new file mode 100644 index 00000000000..8348795ef70 --- /dev/null +++ b/extern/bullet2/src/BulletDynamics/Dynamics/btActionInterface.h @@ -0,0 +1,39 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef _BT_ACTION_INTERFACE_H +#define _BT_ACTION_INTERFACE_H + +class btIDebugDraw; +class btCollisionWorld; + +#include "LinearMath/btScalar.h" + +///Basic interface to allow actions such as vehicles and characters to be updated inside a btDynamicsWorld +class btActionInterface +{ + public: + + virtual ~btActionInterface() + { + } + + virtual void updateAction( btCollisionWorld* collisionWorld, btScalar deltaTimeStep)=0; + + virtual void debugDraw(btIDebugDraw* debugDrawer) = 0; + +}; + +#endif //_BT_ACTION_INTERFACE_H \ No newline at end of file diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btContinuousDynamicsWorld.cpp b/extern/bullet2/src/BulletDynamics/Dynamics/btContinuousDynamicsWorld.cpp index 19443adc723..fa0d63d74a1 100644 --- a/extern/bullet2/src/BulletDynamics/Dynamics/btContinuousDynamicsWorld.cpp +++ b/extern/bullet2/src/BulletDynamics/Dynamics/btContinuousDynamicsWorld.cpp @@ -90,8 +90,7 @@ void btContinuousDynamicsWorld::internalSingleStepSimulation( btScalar timeStep) integrateTransforms(timeStep * toi); ///update vehicle simulation - updateVehicles(timeStep); - + updateActions(timeStep); updateActivationState( timeStep ); diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp index ec803df06f7..ea2e0ad2a2b 100644 --- a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp +++ b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp @@ -51,17 +51,7 @@ subject to the following restrictions: #include "LinearMath/btIDebugDraw.h" - -//vehicle -#include "BulletDynamics/Vehicle/btRaycastVehicle.h" -#include "BulletDynamics/Vehicle/btVehicleRaycaster.h" -#include "BulletDynamics/Vehicle/btWheelInfo.h" -#ifdef USE_CHARACTER -//character -#include "BulletDynamics/Character/btCharacterControllerInterface.h" -#endif //USE_CHARACTER - -#include "LinearMath/btIDebugDraw.h" +#include "BulletDynamics/Dynamics/btActionInterface.h" #include "LinearMath/btQuickprof.h" #include "LinearMath/btMotionState.h" @@ -214,32 +204,11 @@ void btDiscreteDynamicsWorld::debugDrawWorld() } - for ( i=0;im_vehicles.size();i++) + if (getDebugDrawer() && getDebugDrawer()->getDebugMode()) { - for (int v=0;vgetNumWheels();v++) + for (i=0;igetWheelInfo(v).m_raycastInfo.m_isInContact) - { - wheelColor.setValue(0,0,255); - } else - { - wheelColor.setValue(255,0,255); - } - - btVector3 wheelPosWS = m_vehicles[i]->getWheelInfo(v).m_worldTransform.getOrigin(); - - btVector3 axle = btVector3( - m_vehicles[i]->getWheelInfo(v).m_worldTransform.getBasis()[0][m_vehicles[i]->getRightAxis()], - m_vehicles[i]->getWheelInfo(v).m_worldTransform.getBasis()[1][m_vehicles[i]->getRightAxis()], - m_vehicles[i]->getWheelInfo(v).m_worldTransform.getBasis()[2][m_vehicles[i]->getRightAxis()]); - - - //m_vehicles[i]->getWheelInfo(v).m_raycastInfo.m_wheelAxleWS - //debug wheels (cylinders) - m_debugDrawer->drawLine(wheelPosWS,wheelPosWS+axle,wheelColor); - m_debugDrawer->drawLine(wheelPosWS,m_vehicles[i]->getWheelInfo(v).m_raycastInfo.m_contactPointWS,wheelColor); - + m_actions[i]->debugDraw(m_debugDrawer); } } } @@ -311,7 +280,7 @@ void btDiscreteDynamicsWorld::synchronizeMotionStates() synchronizeSingleMotionState(body); } } - +/* if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe) { for ( int i=0;im_vehicles.size();i++) @@ -323,6 +292,8 @@ void btDiscreteDynamicsWorld::synchronizeMotionStates() } } } + */ + } @@ -428,10 +399,8 @@ void btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep) integrateTransforms(timeStep); ///update vehicle simulation - updateVehicles(timeStep); + updateActions(timeStep); - updateCharacters(timeStep); - updateActivationState( timeStep ); if(0 != m_internalTickCallback) { @@ -495,31 +464,15 @@ void btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body, short group, short } -void btDiscreteDynamicsWorld::updateVehicles(btScalar timeStep) -{ - BT_PROFILE("updateVehicles"); - - for ( int i=0;iupdateVehicle( timeStep); - } -} - -void btDiscreteDynamicsWorld::updateCharacters(btScalar timeStep) +void btDiscreteDynamicsWorld::updateActions(btScalar timeStep) { -#ifdef USE_CHARACTER - BT_PROFILE("updateCharacters"); + BT_PROFILE("updateActions"); - for ( int i=0;ipreStep (this); - character->playerStep (this,timeStep); + m_actions[i]->updateAction( this, timeStep); } -#endif //USE_CHARACTER } - void btDiscreteDynamicsWorld::updateActivationState(btScalar timeStep) @@ -576,28 +529,35 @@ void btDiscreteDynamicsWorld::removeConstraint(btTypedConstraint* constraint) constraint->getRigidBodyB().removeConstraintRef(constraint); } -void btDiscreteDynamicsWorld::addVehicle(btRaycastVehicle* vehicle) +void btDiscreteDynamicsWorld::addAction(btActionInterface* action) +{ + m_actions.push_back(action); +} + +void btDiscreteDynamicsWorld::removeAction(btActionInterface* action) +{ + m_actions.remove(action); +} + + +void btDiscreteDynamicsWorld::addVehicle(btActionInterface* vehicle) { - m_vehicles.push_back(vehicle); + addAction(vehicle); } -void btDiscreteDynamicsWorld::removeVehicle(btRaycastVehicle* vehicle) +void btDiscreteDynamicsWorld::removeVehicle(btActionInterface* vehicle) { - m_vehicles.remove(vehicle); + removeAction(vehicle); } -void btDiscreteDynamicsWorld::addCharacter(btCharacterControllerInterface* character) +void btDiscreteDynamicsWorld::addCharacter(btActionInterface* character) { -#ifdef USE_CHARACTER - m_characters.push_back(character); -#endif //USE_CHARACTER + addAction(character); } -void btDiscreteDynamicsWorld::removeCharacter(btCharacterControllerInterface* character) +void btDiscreteDynamicsWorld::removeCharacter(btActionInterface* character) { -#ifdef USE_CHARACTER - m_characters.remove(character); -#endif //USE_CHARACTER + removeAction(character); } diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h index 34d4e6b353f..4662cf5052a 100644 --- a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h +++ b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h @@ -23,10 +23,8 @@ class btOverlappingPairCache; class btConstraintSolver; class btSimulationIslandManager; class btTypedConstraint; +class btActionInterface; - -class btRaycastVehicle; -class btCharacterControllerInterface; class btIDebugDraw; #include "LinearMath/btAlignedObjectArray.h" @@ -52,12 +50,8 @@ protected: bool m_ownsIslandManager; bool m_ownsConstraintSolver; + btAlignedObjectArray m_actions; - btAlignedObjectArray m_vehicles; - - btAlignedObjectArray m_characters; - - int m_profileTimings; virtual void predictUnconstraintMotion(btScalar timeStep); @@ -70,9 +64,7 @@ protected: void updateActivationState(btScalar timeStep); - void updateVehicles(btScalar timeStep); - - void updateCharacters(btScalar timeStep); + void updateActions(btScalar timeStep); void startProfiling(btScalar timeStep); @@ -105,15 +97,10 @@ public: virtual void removeConstraint(btTypedConstraint* constraint); - virtual void addVehicle(btRaycastVehicle* vehicle); + virtual void addAction(btActionInterface*); - virtual void removeVehicle(btRaycastVehicle* vehicle); + virtual void removeAction(btActionInterface*); - virtual void addCharacter(btCharacterControllerInterface* character); - - virtual void removeCharacter(btCharacterControllerInterface* character); - - btSimulationIslandManager* getSimulationIslandManager() { return m_islandManager; @@ -130,6 +117,7 @@ public: } virtual void setGravity(const btVector3& gravity); + virtual btVector3 getGravity () const; virtual void addRigidBody(btRigidBody* body); @@ -171,6 +159,21 @@ public: (void) numTasks; } + ///obsolete, use updateActions instead + virtual void updateVehicles(btScalar timeStep) + { + updateActions(timeStep); + } + + ///obsolete, use addAction instead + virtual void addVehicle(btActionInterface* vehicle); + ///obsolete, use removeAction instead + virtual void removeVehicle(btActionInterface* vehicle); + ///obsolete, use addAction instead + virtual void addCharacter(btActionInterface* character); + ///obsolete, use removeAction instead + virtual void removeCharacter(btActionInterface* character); + }; #endif //BT_DISCRETE_DYNAMICS_WORLD_H diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btDynamicsWorld.h b/extern/bullet2/src/BulletDynamics/Dynamics/btDynamicsWorld.h index 2d90e212f7a..ecf7a2f0c64 100644 --- a/extern/bullet2/src/BulletDynamics/Dynamics/btDynamicsWorld.h +++ b/extern/bullet2/src/BulletDynamics/Dynamics/btDynamicsWorld.h @@ -20,10 +20,10 @@ subject to the following restrictions: #include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h" class btTypedConstraint; -class btRaycastVehicle; +class btActionInterface; class btConstraintSolver; class btDynamicsWorld; -class btCharacterControllerInterface; + /// Type for the callback for each tick typedef void (*btInternalTickCallback)(btDynamicsWorld *world, btScalar timeStep); @@ -72,14 +72,9 @@ public: virtual void removeConstraint(btTypedConstraint* constraint) {(void)constraint;} - virtual void addVehicle(btRaycastVehicle* vehicle) {(void)vehicle;} - - virtual void removeVehicle(btRaycastVehicle* vehicle) {(void)vehicle;} - - virtual void addCharacter(btCharacterControllerInterface* character) {(void)character;} - - virtual void removeCharacter(btCharacterControllerInterface* character) {(void)character;} + virtual void addAction(btActionInterface* action) = 0; + virtual void removeAction(btActionInterface* action) = 0; //once a rigidbody is added to the dynamics world, it will get this gravity assigned //existing rigidbodies in the world get gravity assigned too, during this method @@ -129,6 +124,16 @@ public: } + ///obsolete, use addAction instead. + virtual void addVehicle(btActionInterface* vehicle) {(void)vehicle;} + ///obsolete, use removeAction instead + virtual void removeVehicle(btActionInterface* vehicle) {(void)vehicle;} + ///obsolete, use addAction instead. + virtual void addCharacter(btActionInterface* character) {(void)character;} + ///obsolete, use removeAction instead + virtual void removeCharacter(btActionInterface* character) {(void)character;} + + }; #endif //BT_DYNAMICS_WORLD_H diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp b/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp index a2b8a7dade4..a4d8e1d77f6 100644 --- a/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp +++ b/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp @@ -44,7 +44,8 @@ void btRigidBody::setupRigidBody(const btRigidBody::btRigidBodyConstructionInfo& m_linearVelocity.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0)); m_angularVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.)); - m_angularFactor = btScalar(1.); + m_angularFactor.setValue(1,1,1); + m_linearFactor.setValue(1,1,1); m_gravity.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0)); 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)); diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h b/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h index ec570cab875..da1fcb78611 100644 --- a/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h +++ b/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h @@ -45,7 +45,8 @@ class btRigidBody : public btCollisionObject btVector3 m_linearVelocity; btVector3 m_angularVelocity; btScalar m_inverseMass; - btScalar m_angularFactor; + btVector3 m_angularFactor; + btVector3 m_linearFactor; btVector3 m_gravity; btVector3 m_gravity_acceleration; @@ -219,6 +220,14 @@ public: void setMassProps(btScalar mass, const btVector3& inertia); + const btVector3& getLinearFactor() const + { + return m_linearFactor; + } + void setLinearFactor(const btVector3& linearFactor) + { + m_linearFactor = linearFactor; + } btScalar getInvMass() const { return m_inverseMass; } const btMatrix3x3& getInvInertiaTensorWorld() const { return m_invInertiaTensorWorld; @@ -230,7 +239,7 @@ public: void applyCentralForce(const btVector3& force) { - m_totalForce += force; + m_totalForce += force*m_linearFactor; } const btVector3& getTotalForce() @@ -261,23 +270,23 @@ public: void applyTorque(const btVector3& torque) { - m_totalTorque += torque; + m_totalTorque += torque*m_angularFactor; } void applyForce(const btVector3& force, const btVector3& rel_pos) { applyCentralForce(force); - applyTorque(rel_pos.cross(force)*m_angularFactor); + applyTorque(rel_pos.cross(force*m_linearFactor)); } void applyCentralImpulse(const btVector3& impulse) { - m_linearVelocity += impulse * m_inverseMass; + m_linearVelocity += impulse *m_linearFactor * m_inverseMass; } void applyTorqueImpulse(const btVector3& torque) { - m_angularVelocity += m_invInertiaTensorWorld * torque; + m_angularVelocity += m_invInertiaTensorWorld * torque * m_angularFactor; } void applyImpulse(const btVector3& impulse, const btVector3& rel_pos) @@ -287,7 +296,7 @@ public: applyCentralImpulse(impulse); if (m_angularFactor) { - applyTorqueImpulse(rel_pos.cross(impulse)*m_angularFactor); + applyTorqueImpulse(rel_pos.cross(impulse*m_linearFactor)); } } } @@ -297,10 +306,10 @@ public: { if (m_inverseMass != btScalar(0.)) { - m_linearVelocity += linearComponent*impulseMagnitude; + m_linearVelocity += linearComponent*m_linearFactor*impulseMagnitude; if (m_angularFactor) { - m_angularVelocity += angularComponent*impulseMagnitude*m_angularFactor; + m_angularVelocity += angularComponent*m_angularFactor*impulseMagnitude; } } } @@ -450,11 +459,16 @@ public: int m_contactSolverType; int m_frictionSolverType; - void setAngularFactor(btScalar angFac) + void setAngularFactor(const btVector3& angFac) { m_angularFactor = angFac; } - btScalar getAngularFactor() const + + void setAngularFactor(btScalar angFac) + { + m_angularFactor.setValue(angFac,angFac,angFac); + } + const btVector3& getAngularFactor() const { return m_angularFactor; } diff --git a/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp b/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp index 4982e673053..031fcb5b447 100644 --- a/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp +++ b/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp @@ -19,15 +19,13 @@ #include "btVehicleRaycaster.h" #include "btWheelInfo.h" #include "LinearMath/btMinMax.h" - - +#include "LinearMath/btIDebugDraw.h" #include "BulletDynamics/ConstraintSolver/btContactConstraint.h" static btRigidBody s_fixedObject( 0,0,0); btRaycastVehicle::btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis, btVehicleRaycaster* raycaster ) -: btTypedConstraint(VEHICLE_CONSTRAINT_TYPE), -m_vehicleRaycaster(raycaster), +:m_vehicleRaycaster(raycaster), m_pitchControl(btScalar(0.)) { m_chassisBody = chassis; @@ -691,7 +689,7 @@ void btRaycastVehicle::updateFriction(btScalar timeStep) btVector3 sideImp = m_axle[wheel] * m_sideImpulse[wheel]; - rel_pos[m_indexForwardAxis] *= wheelInfo.m_rollInfluence; + rel_pos[m_indexUpAxis] *= wheelInfo.m_rollInfluence; m_chassisBody->applyImpulse(sideImp,rel_pos); //apply friction impulse on the ground @@ -704,6 +702,36 @@ void btRaycastVehicle::updateFriction(btScalar timeStep) } + +void btRaycastVehicle::debugDraw(btIDebugDraw* debugDrawer) +{ + + for (int v=0;vgetNumWheels();v++) + { + btVector3 wheelColor(0,255,255); + if (getWheelInfo(v).m_raycastInfo.m_isInContact) + { + wheelColor.setValue(0,0,255); + } else + { + wheelColor.setValue(255,0,255); + } + + btVector3 wheelPosWS = getWheelInfo(v).m_worldTransform.getOrigin(); + + btVector3 axle = btVector3( + getWheelInfo(v).m_worldTransform.getBasis()[0][getRightAxis()], + getWheelInfo(v).m_worldTransform.getBasis()[1][getRightAxis()], + getWheelInfo(v).m_worldTransform.getBasis()[2][getRightAxis()]); + + //debug wheels (cylinders) + debugDrawer->drawLine(wheelPosWS,wheelPosWS+axle,wheelColor); + debugDrawer->drawLine(wheelPosWS,getWheelInfo(v).m_raycastInfo.m_contactPointWS,wheelColor); + + } +} + + void* btDefaultVehicleRaycaster::castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result) { // RayResultCallback& resultCallback; @@ -727,3 +755,4 @@ void* btDefaultVehicleRaycaster::castRay(const btVector3& from,const btVector3& } return 0; } + diff --git a/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.h b/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.h index bfe0d7df2fb..d5a299c606f 100644 --- a/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.h +++ b/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.h @@ -17,11 +17,12 @@ class btDynamicsWorld; #include "LinearMath/btAlignedObjectArray.h" #include "btWheelInfo.h" +#include "BulletDynamics/Dynamics/btActionInterface.h" class btVehicleTuning; ///rayCast vehicle, very special constraint that turn a rigidbody into a vehicle. -class btRaycastVehicle : public btTypedConstraint +class btRaycastVehicle : public btActionInterface { btAlignedObjectArray m_forwardWS; @@ -29,6 +30,11 @@ class btRaycastVehicle : public btTypedConstraint btAlignedObjectArray m_forwardImpulse; btAlignedObjectArray m_sideImpulse; + int m_userConstraintType; + + int m_userConstraintId; + + public: class btVehicleTuning { @@ -73,13 +79,24 @@ public: virtual ~btRaycastVehicle() ; - + + ///btActionInterface interface + virtual void updateAction( btCollisionWorld* collisionWorld, btScalar step) + { + updateVehicle(step); + } + + + ///btActionInterface interface + void debugDraw(btIDebugDraw* debugDrawer); + const btTransform& getChassisWorldTransform() const; btScalar rayCast(btWheelInfo& wheel); virtual void updateVehicle(btScalar step); - + + void resetSuspension(); btScalar getSteeringValue(int wheel) const; @@ -175,26 +192,24 @@ public: m_indexForwardAxis = forwardIndex; } - virtual void buildJacobian() + int getUserConstraintType() const { - //not yet + return m_userConstraintType ; } - virtual void getInfo1 (btConstraintInfo1* info) + void setUserConstraintType(int userConstraintType) { - info->m_numConstraintRows = 0; - info->nub = 0; - } + m_userConstraintType = userConstraintType; + }; - virtual void getInfo2 (btConstraintInfo2* info) + void setUserConstraintId(int uid) { - btAssert(0); + m_userConstraintId = uid; } - virtual void solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar timeStep) + int getUserConstraintId() const { - (void)timeStep; - //not yet + return m_userConstraintId; } diff --git a/extern/bullet2/src/LinearMath/btConvexHull.cpp b/extern/bullet2/src/LinearMath/btConvexHull.cpp index 16ababca522..419c752a1d9 100644 --- a/extern/bullet2/src/LinearMath/btConvexHull.cpp +++ b/extern/bullet2/src/LinearMath/btConvexHull.cpp @@ -262,8 +262,8 @@ int maxdirsterid(const T *p,int count,const T &dir,btAlignedObjectArray &al int ma=-1; for(btScalar x = btScalar(0.0) ; x<= btScalar(360.0) ; x+= btScalar(45.0)) { - btScalar s = sinf(SIMD_RADS_PER_DEG*(x)); - btScalar c = cosf(SIMD_RADS_PER_DEG*(x)); + btScalar s = btSin(SIMD_RADS_PER_DEG*(x)); + btScalar c = btCos(SIMD_RADS_PER_DEG*(x)); int mb = maxdirfiltered(p,count,dir+(u*s+v*c)*btScalar(0.025),allow); if(ma==m && mb==m) { @@ -275,8 +275,8 @@ int maxdirsterid(const T *p,int count,const T &dir,btAlignedObjectArray &al int mc = ma; for(btScalar xx = x-btScalar(40.0) ; xx <= x ; xx+= btScalar(5.0)) { - btScalar s = sinf(SIMD_RADS_PER_DEG*(xx)); - btScalar c = cosf(SIMD_RADS_PER_DEG*(xx)); + btScalar s = btSin(SIMD_RADS_PER_DEG*(xx)); + btScalar c = btCos(SIMD_RADS_PER_DEG*(xx)); int md = maxdirfiltered(p,count,dir+(u*s+v*c)*btScalar(0.025),allow); if(mc==m && md==m) { -- cgit v1.2.3