1464 lines
49 KiB
C++
1464 lines
49 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "btDiscreteDynamicsWorld.h"
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//collision detection
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#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
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#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
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#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
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#include "BulletCollision/CollisionShapes/btCollisionShape.h"
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#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h"
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#include "LinearMath/btTransformUtil.h"
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#include "LinearMath/btQuickprof.h"
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//rigidbody & constraints
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#include "BulletDynamics/Dynamics/btRigidBody.h"
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#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
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#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
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#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
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#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"
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#include "BulletDynamics/ConstraintSolver/btHingeConstraint.h"
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#include "BulletDynamics/ConstraintSolver/btConeTwistConstraint.h"
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#include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h"
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#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h"
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#include "BulletDynamics/ConstraintSolver/btSliderConstraint.h"
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#include "BulletDynamics/ConstraintSolver/btContactConstraint.h"
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#include "LinearMath/btIDebugDraw.h"
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#include "BulletCollision/CollisionShapes/btSphereShape.h"
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#include "BulletDynamics/Dynamics/btActionInterface.h"
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#include "LinearMath/btQuickprof.h"
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#include "LinearMath/btMotionState.h"
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#include "LinearMath/btSerializer.h"
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#if 0
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btAlignedObjectArray<btVector3> debugContacts;
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btAlignedObjectArray<btVector3> debugNormals;
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int startHit=2;
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int firstHit=startHit;
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#endif
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SIMD_FORCE_INLINE int btGetConstraintIslandId(const btTypedConstraint* lhs)
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{
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int islandId;
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const btCollisionObject& rcolObj0 = lhs->getRigidBodyA();
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const btCollisionObject& rcolObj1 = lhs->getRigidBodyB();
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islandId = rcolObj0.getIslandTag() >= 0 ? rcolObj0.getIslandTag() : rcolObj1.getIslandTag();
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return islandId;
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}
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class btSortConstraintOnIslandPredicate
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{
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public:
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bool operator()(const btTypedConstraint* lhs, const btTypedConstraint* rhs) const
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{
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int rIslandId0, lIslandId0;
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rIslandId0 = btGetConstraintIslandId(rhs);
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lIslandId0 = btGetConstraintIslandId(lhs);
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return lIslandId0 < rIslandId0;
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}
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};
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struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCallback
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{
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btContactSolverInfo* m_solverInfo;
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btConstraintSolver* m_solver;
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btTypedConstraint** m_sortedConstraints;
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int m_numConstraints;
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btIDebugDraw* m_debugDrawer;
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btDispatcher* m_dispatcher;
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btAlignedObjectArray<btCollisionObject*> m_bodies;
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btAlignedObjectArray<btPersistentManifold*> m_manifolds;
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btAlignedObjectArray<btTypedConstraint*> m_constraints;
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InplaceSolverIslandCallback(
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btConstraintSolver* solver,
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btStackAlloc* stackAlloc,
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btDispatcher* dispatcher)
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: m_solverInfo(NULL),
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m_solver(solver),
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m_sortedConstraints(NULL),
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m_numConstraints(0),
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m_debugDrawer(NULL),
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m_dispatcher(dispatcher)
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{
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}
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InplaceSolverIslandCallback& operator=(InplaceSolverIslandCallback& other)
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{
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btAssert(0);
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(void)other;
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return *this;
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}
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SIMD_FORCE_INLINE void setup(btContactSolverInfo* solverInfo, btTypedConstraint** sortedConstraints, int numConstraints, btIDebugDraw* debugDrawer)
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{
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btAssert(solverInfo);
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m_solverInfo = solverInfo;
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m_sortedConstraints = sortedConstraints;
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m_numConstraints = numConstraints;
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m_debugDrawer = debugDrawer;
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m_bodies.resize(0);
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m_manifolds.resize(0);
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m_constraints.resize(0);
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}
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virtual void processIsland(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifolds, int numManifolds, int islandId)
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{
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if (islandId < 0)
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{
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///we don't split islands, so all constraints/contact manifolds/bodies are passed into the solver regardless the island id
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m_solver->solveGroup(bodies, numBodies, manifolds, numManifolds, &m_sortedConstraints[0], m_numConstraints, *m_solverInfo, m_debugDrawer, m_dispatcher);
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}
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else
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{
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//also add all non-contact constraints/joints for this island
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btTypedConstraint** startConstraint = 0;
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int numCurConstraints = 0;
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int i;
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//find the first constraint for this island
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for (i = 0; i < m_numConstraints; i++)
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{
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if (btGetConstraintIslandId(m_sortedConstraints[i]) == islandId)
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{
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startConstraint = &m_sortedConstraints[i];
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break;
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}
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}
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//count the number of constraints in this island
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for (; i < m_numConstraints; i++)
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{
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if (btGetConstraintIslandId(m_sortedConstraints[i]) == islandId)
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{
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numCurConstraints++;
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}
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}
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if (m_solverInfo->m_minimumSolverBatchSize <= 1)
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{
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m_solver->solveGroup(bodies, numBodies, manifolds, numManifolds, startConstraint, numCurConstraints, *m_solverInfo, m_debugDrawer, m_dispatcher);
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}
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else
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{
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for (i = 0; i < numBodies; i++)
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m_bodies.push_back(bodies[i]);
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for (i = 0; i < numManifolds; i++)
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m_manifolds.push_back(manifolds[i]);
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for (i = 0; i < numCurConstraints; i++)
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m_constraints.push_back(startConstraint[i]);
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if ((m_constraints.size() + m_manifolds.size()) > m_solverInfo->m_minimumSolverBatchSize)
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{
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processConstraints();
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}
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else
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{
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//printf("deferred\n");
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}
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}
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}
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}
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void processConstraints()
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{
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btCollisionObject** bodies = m_bodies.size() ? &m_bodies[0] : 0;
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btPersistentManifold** manifold = m_manifolds.size() ? &m_manifolds[0] : 0;
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btTypedConstraint** constraints = m_constraints.size() ? &m_constraints[0] : 0;
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m_solver->solveGroup(bodies, m_bodies.size(), manifold, m_manifolds.size(), constraints, m_constraints.size(), *m_solverInfo, m_debugDrawer, m_dispatcher);
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m_bodies.resize(0);
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m_manifolds.resize(0);
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m_constraints.resize(0);
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}
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};
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btDiscreteDynamicsWorld::btDiscreteDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration)
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: btDynamicsWorld(dispatcher, pairCache, collisionConfiguration),
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m_sortedConstraints(),
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m_solverIslandCallback(NULL),
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m_constraintSolver(constraintSolver),
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m_gravity(0, -10, 0),
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m_localTime(0),
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m_fixedTimeStep(0),
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m_synchronizeAllMotionStates(false),
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m_applySpeculativeContactRestitution(false),
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m_profileTimings(0),
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m_latencyMotionStateInterpolation(true)
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{
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if (!m_constraintSolver)
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{
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void* mem = btAlignedAlloc(sizeof(btSequentialImpulseConstraintSolver), 16);
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m_constraintSolver = new (mem) btSequentialImpulseConstraintSolver;
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m_ownsConstraintSolver = true;
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}
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else
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{
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m_ownsConstraintSolver = false;
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}
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{
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void* mem = btAlignedAlloc(sizeof(btSimulationIslandManager), 16);
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m_islandManager = new (mem) btSimulationIslandManager();
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}
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m_ownsIslandManager = true;
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{
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void* mem = btAlignedAlloc(sizeof(InplaceSolverIslandCallback), 16);
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m_solverIslandCallback = new (mem) InplaceSolverIslandCallback(m_constraintSolver, 0, dispatcher);
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}
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}
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btDiscreteDynamicsWorld::~btDiscreteDynamicsWorld()
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{
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//only delete it when we created it
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if (m_ownsIslandManager)
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{
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m_islandManager->~btSimulationIslandManager();
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btAlignedFree(m_islandManager);
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}
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if (m_solverIslandCallback)
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{
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m_solverIslandCallback->~InplaceSolverIslandCallback();
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btAlignedFree(m_solverIslandCallback);
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}
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if (m_ownsConstraintSolver)
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{
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m_constraintSolver->~btConstraintSolver();
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btAlignedFree(m_constraintSolver);
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}
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}
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void btDiscreteDynamicsWorld::saveKinematicState(btScalar timeStep)
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{
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///would like to iterate over m_nonStaticRigidBodies, but unfortunately old API allows
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///to switch status _after_ adding kinematic objects to the world
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///fix it for Bullet 3.x release
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for (int i = 0; i < m_collisionObjects.size(); i++)
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{
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btCollisionObject* colObj = m_collisionObjects[i];
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btRigidBody* body = btRigidBody::upcast(colObj);
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if (body && body->getActivationState() != ISLAND_SLEEPING)
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{
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if (body->isKinematicObject())
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{
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//to calculate velocities next frame
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body->saveKinematicState(timeStep);
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}
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}
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}
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}
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void btDiscreteDynamicsWorld::debugDrawWorld()
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{
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BT_PROFILE("debugDrawWorld");
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btCollisionWorld::debugDrawWorld();
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bool drawConstraints = false;
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if (getDebugDrawer())
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{
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int mode = getDebugDrawer()->getDebugMode();
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if (mode & (btIDebugDraw::DBG_DrawConstraints | btIDebugDraw::DBG_DrawConstraintLimits))
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{
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drawConstraints = true;
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}
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}
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if (drawConstraints)
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{
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for (int i = getNumConstraints() - 1; i >= 0; i--)
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{
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btTypedConstraint* constraint = getConstraint(i);
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debugDrawConstraint(constraint);
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}
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}
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if (getDebugDrawer() && (getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe | btIDebugDraw::DBG_DrawAabb | btIDebugDraw::DBG_DrawNormals)))
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{
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int i;
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if (getDebugDrawer() && getDebugDrawer()->getDebugMode())
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{
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for (i = 0; i < m_actions.size(); i++)
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{
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m_actions[i]->debugDraw(m_debugDrawer);
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}
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}
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}
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if (getDebugDrawer())
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getDebugDrawer()->flushLines();
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}
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void btDiscreteDynamicsWorld::clearForces()
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{
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///@todo: iterate over awake simulation islands!
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for (int i = 0; i < m_nonStaticRigidBodies.size(); i++)
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{
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btRigidBody* body = m_nonStaticRigidBodies[i];
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//need to check if next line is ok
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//it might break backward compatibility (people applying forces on sleeping objects get never cleared and accumulate on wake-up
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body->clearForces();
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}
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}
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///apply gravity, call this once per timestep
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void btDiscreteDynamicsWorld::applyGravity()
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{
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///@todo: iterate over awake simulation islands!
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for (int i = 0; i < m_nonStaticRigidBodies.size(); i++)
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{
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btRigidBody* body = m_nonStaticRigidBodies[i];
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if (body->isActive())
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{
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body->applyGravity();
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}
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}
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}
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void btDiscreteDynamicsWorld::synchronizeSingleMotionState(btRigidBody* body)
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{
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btAssert(body);
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if (body->getMotionState() && !body->isStaticOrKinematicObject())
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{
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//we need to call the update at least once, even for sleeping objects
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//otherwise the 'graphics' transform never updates properly
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///@todo: add 'dirty' flag
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//if (body->getActivationState() != ISLAND_SLEEPING)
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{
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btTransform interpolatedTransform;
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btTransformUtil::integrateTransform(body->getInterpolationWorldTransform(),
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body->getInterpolationLinearVelocity(), body->getInterpolationAngularVelocity(),
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(m_latencyMotionStateInterpolation && m_fixedTimeStep) ? m_localTime - m_fixedTimeStep : m_localTime * body->getHitFraction(),
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interpolatedTransform);
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body->getMotionState()->setWorldTransform(interpolatedTransform);
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}
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}
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}
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void btDiscreteDynamicsWorld::synchronizeMotionStates()
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{
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// BT_PROFILE("synchronizeMotionStates");
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if (m_synchronizeAllMotionStates)
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{
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//iterate over all collision objects
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for (int i = 0; i < m_collisionObjects.size(); i++)
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{
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btCollisionObject* colObj = m_collisionObjects[i];
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btRigidBody* body = btRigidBody::upcast(colObj);
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if (body)
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synchronizeSingleMotionState(body);
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}
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}
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else
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{
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//iterate over all active rigid bodies
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for (int i = 0; i < m_nonStaticRigidBodies.size(); i++)
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{
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btRigidBody* body = m_nonStaticRigidBodies[i];
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if (body->isActive())
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synchronizeSingleMotionState(body);
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}
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}
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}
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int btDiscreteDynamicsWorld::stepSimulation(btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep)
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{
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startProfiling(timeStep);
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int numSimulationSubSteps = 0;
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if (maxSubSteps)
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{
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//fixed timestep with interpolation
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m_fixedTimeStep = fixedTimeStep;
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m_localTime += timeStep;
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if (m_localTime >= fixedTimeStep)
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{
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numSimulationSubSteps = int(m_localTime / fixedTimeStep);
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m_localTime -= numSimulationSubSteps * fixedTimeStep;
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}
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}
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else
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{
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//variable timestep
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fixedTimeStep = timeStep;
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m_localTime = m_latencyMotionStateInterpolation ? 0 : timeStep;
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m_fixedTimeStep = 0;
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if (btFuzzyZero(timeStep))
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{
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numSimulationSubSteps = 0;
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maxSubSteps = 0;
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}
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else
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{
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numSimulationSubSteps = 1;
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maxSubSteps = 1;
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}
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}
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//process some debugging flags
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if (getDebugDrawer())
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{
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btIDebugDraw* debugDrawer = getDebugDrawer();
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gDisableDeactivation = (debugDrawer->getDebugMode() & btIDebugDraw::DBG_NoDeactivation) != 0;
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}
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if (numSimulationSubSteps)
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{
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//clamp the number of substeps, to prevent simulation grinding spiralling down to a halt
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int clampedSimulationSteps = (numSimulationSubSteps > maxSubSteps) ? maxSubSteps : numSimulationSubSteps;
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saveKinematicState(fixedTimeStep * clampedSimulationSteps);
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applyGravity();
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for (int i = 0; i < clampedSimulationSteps; i++)
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{
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internalSingleStepSimulation(fixedTimeStep);
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synchronizeMotionStates();
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}
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}
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else
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{
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synchronizeMotionStates();
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}
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clearForces();
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#ifndef BT_NO_PROFILE
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CProfileManager::Increment_Frame_Counter();
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#endif //BT_NO_PROFILE
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return numSimulationSubSteps;
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}
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void btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
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{
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BT_PROFILE("internalSingleStepSimulation");
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if (0 != m_internalPreTickCallback)
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{
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(*m_internalPreTickCallback)(this, timeStep);
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}
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///apply gravity, predict motion
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predictUnconstraintMotion(timeStep);
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btDispatcherInfo& dispatchInfo = getDispatchInfo();
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dispatchInfo.m_timeStep = timeStep;
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dispatchInfo.m_stepCount = 0;
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dispatchInfo.m_debugDraw = getDebugDrawer();
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createPredictiveContacts(timeStep);
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///perform collision detection
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performDiscreteCollisionDetection();
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calculateSimulationIslands();
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getSolverInfo().m_timeStep = timeStep;
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///solve contact and other joint constraints
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solveConstraints(getSolverInfo());
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///CallbackTriggers();
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///integrate transforms
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integrateTransforms(timeStep);
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///update vehicle simulation
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updateActions(timeStep);
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updateActivationState(timeStep);
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if (0 != m_internalTickCallback)
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{
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(*m_internalTickCallback)(this, timeStep);
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}
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}
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void btDiscreteDynamicsWorld::setGravity(const btVector3& gravity)
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{
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m_gravity = gravity;
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for (int i = 0; i < m_nonStaticRigidBodies.size(); i++)
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{
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btRigidBody* body = m_nonStaticRigidBodies[i];
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if (body->isActive() && !(body->getFlags() & BT_DISABLE_WORLD_GRAVITY))
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{
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body->setGravity(gravity);
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}
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}
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}
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|
|
btVector3 btDiscreteDynamicsWorld::getGravity() const
|
|
{
|
|
return m_gravity;
|
|
}
|
|
|
|
void btDiscreteDynamicsWorld::addCollisionObject(btCollisionObject* collisionObject, int collisionFilterGroup, int collisionFilterMask)
|
|
{
|
|
btCollisionWorld::addCollisionObject(collisionObject, collisionFilterGroup, collisionFilterMask);
|
|
}
|
|
|
|
void btDiscreteDynamicsWorld::removeCollisionObject(btCollisionObject* collisionObject)
|
|
{
|
|
btRigidBody* body = btRigidBody::upcast(collisionObject);
|
|
if (body)
|
|
removeRigidBody(body);
|
|
else
|
|
btCollisionWorld::removeCollisionObject(collisionObject);
|
|
}
|
|
|
|
void btDiscreteDynamicsWorld::removeRigidBody(btRigidBody* body)
|
|
{
|
|
m_nonStaticRigidBodies.remove(body);
|
|
btCollisionWorld::removeCollisionObject(body);
|
|
}
|
|
|
|
void btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body)
|
|
{
|
|
if (!body->isStaticOrKinematicObject() && !(body->getFlags() & BT_DISABLE_WORLD_GRAVITY))
|
|
{
|
|
body->setGravity(m_gravity);
|
|
}
|
|
|
|
if (body->getCollisionShape())
|
|
{
|
|
if (!body->isStaticObject())
|
|
{
|
|
m_nonStaticRigidBodies.push_back(body);
|
|
}
|
|
else
|
|
{
|
|
body->setActivationState(ISLAND_SLEEPING);
|
|
}
|
|
|
|
bool isDynamic = !(body->isStaticObject() || body->isKinematicObject());
|
|
int collisionFilterGroup = isDynamic ? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
|
|
int collisionFilterMask = isDynamic ? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
|
|
|
|
addCollisionObject(body, collisionFilterGroup, collisionFilterMask);
|
|
}
|
|
}
|
|
|
|
void btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body, int group, int mask)
|
|
{
|
|
if (!body->isStaticOrKinematicObject() && !(body->getFlags() & BT_DISABLE_WORLD_GRAVITY))
|
|
{
|
|
body->setGravity(m_gravity);
|
|
}
|
|
|
|
if (body->getCollisionShape())
|
|
{
|
|
if (!body->isStaticObject())
|
|
{
|
|
m_nonStaticRigidBodies.push_back(body);
|
|
}
|
|
else
|
|
{
|
|
body->setActivationState(ISLAND_SLEEPING);
|
|
}
|
|
addCollisionObject(body, group, mask);
|
|
}
|
|
}
|
|
|
|
void btDiscreteDynamicsWorld::updateActions(btScalar timeStep)
|
|
{
|
|
BT_PROFILE("updateActions");
|
|
|
|
for (int i = 0; i < m_actions.size(); i++)
|
|
{
|
|
m_actions[i]->updateAction(this, timeStep);
|
|
}
|
|
}
|
|
|
|
void btDiscreteDynamicsWorld::updateActivationState(btScalar timeStep)
|
|
{
|
|
BT_PROFILE("updateActivationState");
|
|
|
|
for (int i = 0; i < m_nonStaticRigidBodies.size(); i++)
|
|
{
|
|
btRigidBody* body = m_nonStaticRigidBodies[i];
|
|
if (body)
|
|
{
|
|
body->updateDeactivation(timeStep);
|
|
|
|
if (body->wantsSleeping())
|
|
{
|
|
if (body->isStaticOrKinematicObject())
|
|
{
|
|
body->setActivationState(ISLAND_SLEEPING);
|
|
}
|
|
else
|
|
{
|
|
if (body->getActivationState() == ACTIVE_TAG)
|
|
body->setActivationState(WANTS_DEACTIVATION);
|
|
if (body->getActivationState() == ISLAND_SLEEPING)
|
|
{
|
|
body->setAngularVelocity(btVector3(0, 0, 0));
|
|
body->setLinearVelocity(btVector3(0, 0, 0));
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (body->getActivationState() != DISABLE_DEACTIVATION)
|
|
body->setActivationState(ACTIVE_TAG);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void btDiscreteDynamicsWorld::addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies)
|
|
{
|
|
m_constraints.push_back(constraint);
|
|
//Make sure the two bodies of a type constraint are different (possibly add this to the btTypedConstraint constructor?)
|
|
btAssert(&constraint->getRigidBodyA() != &constraint->getRigidBodyB());
|
|
|
|
if (disableCollisionsBetweenLinkedBodies)
|
|
{
|
|
constraint->getRigidBodyA().addConstraintRef(constraint);
|
|
constraint->getRigidBodyB().addConstraintRef(constraint);
|
|
}
|
|
}
|
|
|
|
void btDiscreteDynamicsWorld::removeConstraint(btTypedConstraint* constraint)
|
|
{
|
|
m_constraints.remove(constraint);
|
|
constraint->getRigidBodyA().removeConstraintRef(constraint);
|
|
constraint->getRigidBodyB().removeConstraintRef(constraint);
|
|
}
|
|
|
|
void btDiscreteDynamicsWorld::addAction(btActionInterface* action)
|
|
{
|
|
m_actions.push_back(action);
|
|
}
|
|
|
|
void btDiscreteDynamicsWorld::removeAction(btActionInterface* action)
|
|
{
|
|
m_actions.remove(action);
|
|
}
|
|
|
|
void btDiscreteDynamicsWorld::addVehicle(btActionInterface* vehicle)
|
|
{
|
|
addAction(vehicle);
|
|
}
|
|
|
|
void btDiscreteDynamicsWorld::removeVehicle(btActionInterface* vehicle)
|
|
{
|
|
removeAction(vehicle);
|
|
}
|
|
|
|
void btDiscreteDynamicsWorld::addCharacter(btActionInterface* character)
|
|
{
|
|
addAction(character);
|
|
}
|
|
|
|
void btDiscreteDynamicsWorld::removeCharacter(btActionInterface* character)
|
|
{
|
|
removeAction(character);
|
|
}
|
|
|
|
void btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
|
|
{
|
|
BT_PROFILE("solveConstraints");
|
|
|
|
m_sortedConstraints.resize(m_constraints.size());
|
|
int i;
|
|
for (i = 0; i < getNumConstraints(); i++)
|
|
{
|
|
m_sortedConstraints[i] = m_constraints[i];
|
|
}
|
|
|
|
// btAssert(0);
|
|
|
|
m_sortedConstraints.quickSort(btSortConstraintOnIslandPredicate());
|
|
|
|
btTypedConstraint** constraintsPtr = getNumConstraints() ? &m_sortedConstraints[0] : 0;
|
|
|
|
m_solverIslandCallback->setup(&solverInfo, constraintsPtr, m_sortedConstraints.size(), getDebugDrawer());
|
|
m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds());
|
|
|
|
/// solve all the constraints for this island
|
|
m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverIslandCallback);
|
|
|
|
m_solverIslandCallback->processConstraints();
|
|
|
|
m_constraintSolver->allSolved(solverInfo, m_debugDrawer);
|
|
}
|
|
|
|
void btDiscreteDynamicsWorld::calculateSimulationIslands()
|
|
{
|
|
BT_PROFILE("calculateSimulationIslands");
|
|
|
|
getSimulationIslandManager()->updateActivationState(getCollisionWorld(), getCollisionWorld()->getDispatcher());
|
|
|
|
{
|
|
//merge islands based on speculative contact manifolds too
|
|
for (int i = 0; i < this->m_predictiveManifolds.size(); i++)
|
|
{
|
|
btPersistentManifold* manifold = m_predictiveManifolds[i];
|
|
|
|
const btCollisionObject* colObj0 = manifold->getBody0();
|
|
const btCollisionObject* colObj1 = manifold->getBody1();
|
|
|
|
if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) &&
|
|
((colObj1) && (!(colObj1)->isStaticOrKinematicObject())))
|
|
{
|
|
getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(), (colObj1)->getIslandTag());
|
|
}
|
|
}
|
|
}
|
|
|
|
{
|
|
int i;
|
|
int numConstraints = int(m_constraints.size());
|
|
for (i = 0; i < numConstraints; i++)
|
|
{
|
|
btTypedConstraint* constraint = m_constraints[i];
|
|
if (constraint->isEnabled())
|
|
{
|
|
const btRigidBody* colObj0 = &constraint->getRigidBodyA();
|
|
const btRigidBody* colObj1 = &constraint->getRigidBodyB();
|
|
|
|
if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) &&
|
|
((colObj1) && (!(colObj1)->isStaticOrKinematicObject())))
|
|
{
|
|
getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(), (colObj1)->getIslandTag());
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
//Store the island id in each body
|
|
getSimulationIslandManager()->storeIslandActivationState(getCollisionWorld());
|
|
}
|
|
|
|
class btClosestNotMeConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback
|
|
{
|
|
public:
|
|
btCollisionObject* m_me;
|
|
btScalar m_allowedPenetration;
|
|
btOverlappingPairCache* m_pairCache;
|
|
btDispatcher* m_dispatcher;
|
|
|
|
public:
|
|
btClosestNotMeConvexResultCallback(btCollisionObject* me, const btVector3& fromA, const btVector3& toA, btOverlappingPairCache* pairCache, btDispatcher* dispatcher) : btCollisionWorld::ClosestConvexResultCallback(fromA, toA),
|
|
m_me(me),
|
|
m_allowedPenetration(0.0f),
|
|
m_pairCache(pairCache),
|
|
m_dispatcher(dispatcher)
|
|
{
|
|
}
|
|
|
|
virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult& convexResult, bool normalInWorldSpace)
|
|
{
|
|
if (convexResult.m_hitCollisionObject == m_me)
|
|
return 1.0f;
|
|
|
|
//ignore result if there is no contact response
|
|
if (!convexResult.m_hitCollisionObject->hasContactResponse())
|
|
return 1.0f;
|
|
|
|
btVector3 linVelA, linVelB;
|
|
linVelA = m_convexToWorld - m_convexFromWorld;
|
|
linVelB = btVector3(0, 0, 0); //toB.getOrigin()-fromB.getOrigin();
|
|
|
|
btVector3 relativeVelocity = (linVelA - linVelB);
|
|
//don't report time of impact for motion away from the contact normal (or causes minor penetration)
|
|
if (convexResult.m_hitNormalLocal.dot(relativeVelocity) >= -m_allowedPenetration)
|
|
return 1.f;
|
|
|
|
return ClosestConvexResultCallback::addSingleResult(convexResult, normalInWorldSpace);
|
|
}
|
|
|
|
virtual bool needsCollision(btBroadphaseProxy* proxy0) const
|
|
{
|
|
//don't collide with itself
|
|
if (proxy0->m_clientObject == m_me)
|
|
return false;
|
|
|
|
///don't do CCD when the collision filters are not matching
|
|
if (!ClosestConvexResultCallback::needsCollision(proxy0))
|
|
return false;
|
|
|
|
btCollisionObject* otherObj = (btCollisionObject*)proxy0->m_clientObject;
|
|
|
|
if (!m_dispatcher->needsCollision(m_me, otherObj))
|
|
return false;
|
|
|
|
//call needsResponse, see http://code.google.com/p/bullet/issues/detail?id=179
|
|
if (m_dispatcher->needsResponse(m_me, otherObj))
|
|
{
|
|
#if 0
|
|
///don't do CCD when there are already contact points (touching contact/penetration)
|
|
btAlignedObjectArray<btPersistentManifold*> manifoldArray;
|
|
btBroadphasePair* collisionPair = m_pairCache->findPair(m_me->getBroadphaseHandle(),proxy0);
|
|
if (collisionPair)
|
|
{
|
|
if (collisionPair->m_algorithm)
|
|
{
|
|
manifoldArray.resize(0);
|
|
collisionPair->m_algorithm->getAllContactManifolds(manifoldArray);
|
|
for (int j=0;j<manifoldArray.size();j++)
|
|
{
|
|
btPersistentManifold* manifold = manifoldArray[j];
|
|
if (manifold->getNumContacts()>0)
|
|
return false;
|
|
}
|
|
}
|
|
}
|
|
#endif
|
|
return true;
|
|
}
|
|
|
|
return false;
|
|
}
|
|
};
|
|
|
|
///internal debugging variable. this value shouldn't be too high
|
|
int gNumClampedCcdMotions = 0;
|
|
|
|
void btDiscreteDynamicsWorld::createPredictiveContactsInternal(btRigidBody** bodies, int numBodies, btScalar timeStep)
|
|
{
|
|
btTransform predictedTrans;
|
|
for (int i = 0; i < numBodies; i++)
|
|
{
|
|
btRigidBody* body = bodies[i];
|
|
body->setHitFraction(1.f);
|
|
|
|
if (body->isActive() && (!body->isStaticOrKinematicObject()))
|
|
{
|
|
body->predictIntegratedTransform(timeStep, predictedTrans);
|
|
|
|
btScalar squareMotion = (predictedTrans.getOrigin() - body->getWorldTransform().getOrigin()).length2();
|
|
|
|
if (getDispatchInfo().m_useContinuous && body->getCcdSquareMotionThreshold() && body->getCcdSquareMotionThreshold() < squareMotion)
|
|
{
|
|
BT_PROFILE("predictive convexSweepTest");
|
|
if (body->getCollisionShape()->isConvex())
|
|
{
|
|
gNumClampedCcdMotions++;
|
|
#ifdef PREDICTIVE_CONTACT_USE_STATIC_ONLY
|
|
class StaticOnlyCallback : public btClosestNotMeConvexResultCallback
|
|
{
|
|
public:
|
|
StaticOnlyCallback(btCollisionObject* me, const btVector3& fromA, const btVector3& toA, btOverlappingPairCache* pairCache, btDispatcher* dispatcher) : btClosestNotMeConvexResultCallback(me, fromA, toA, pairCache, dispatcher)
|
|
{
|
|
}
|
|
|
|
virtual bool needsCollision(btBroadphaseProxy* proxy0) const
|
|
{
|
|
btCollisionObject* otherObj = (btCollisionObject*)proxy0->m_clientObject;
|
|
if (!otherObj->isStaticOrKinematicObject())
|
|
return false;
|
|
return btClosestNotMeConvexResultCallback::needsCollision(proxy0);
|
|
}
|
|
};
|
|
|
|
StaticOnlyCallback sweepResults(body, body->getWorldTransform().getOrigin(), predictedTrans.getOrigin(), getBroadphase()->getOverlappingPairCache(), getDispatcher());
|
|
#else
|
|
btClosestNotMeConvexResultCallback sweepResults(body, body->getWorldTransform().getOrigin(), predictedTrans.getOrigin(), getBroadphase()->getOverlappingPairCache(), getDispatcher());
|
|
#endif
|
|
//btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
|
|
btSphereShape tmpSphere(body->getCcdSweptSphereRadius()); //btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
|
|
sweepResults.m_allowedPenetration = getDispatchInfo().m_allowedCcdPenetration;
|
|
|
|
sweepResults.m_collisionFilterGroup = body->getBroadphaseProxy()->m_collisionFilterGroup;
|
|
sweepResults.m_collisionFilterMask = body->getBroadphaseProxy()->m_collisionFilterMask;
|
|
btTransform modifiedPredictedTrans = predictedTrans;
|
|
modifiedPredictedTrans.setBasis(body->getWorldTransform().getBasis());
|
|
|
|
convexSweepTest(&tmpSphere, body->getWorldTransform(), modifiedPredictedTrans, sweepResults);
|
|
if (sweepResults.hasHit() && (sweepResults.m_closestHitFraction < 1.f))
|
|
{
|
|
btVector3 distVec = (predictedTrans.getOrigin() - body->getWorldTransform().getOrigin()) * sweepResults.m_closestHitFraction;
|
|
btScalar distance = distVec.dot(-sweepResults.m_hitNormalWorld);
|
|
|
|
btPersistentManifold* manifold = m_dispatcher1->getNewManifold(body, sweepResults.m_hitCollisionObject);
|
|
btMutexLock(&m_predictiveManifoldsMutex);
|
|
m_predictiveManifolds.push_back(manifold);
|
|
btMutexUnlock(&m_predictiveManifoldsMutex);
|
|
|
|
btVector3 worldPointB = body->getWorldTransform().getOrigin() + distVec;
|
|
btVector3 localPointB = sweepResults.m_hitCollisionObject->getWorldTransform().inverse() * worldPointB;
|
|
|
|
btManifoldPoint newPoint(btVector3(0, 0, 0), localPointB, sweepResults.m_hitNormalWorld, distance);
|
|
|
|
bool isPredictive = true;
|
|
int index = manifold->addManifoldPoint(newPoint, isPredictive);
|
|
btManifoldPoint& pt = manifold->getContactPoint(index);
|
|
pt.m_combinedRestitution = 0;
|
|
pt.m_combinedFriction = gCalculateCombinedFrictionCallback(body, sweepResults.m_hitCollisionObject);
|
|
pt.m_positionWorldOnA = body->getWorldTransform().getOrigin();
|
|
pt.m_positionWorldOnB = worldPointB;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void btDiscreteDynamicsWorld::releasePredictiveContacts()
|
|
{
|
|
BT_PROFILE("release predictive contact manifolds");
|
|
|
|
for (int i = 0; i < m_predictiveManifolds.size(); i++)
|
|
{
|
|
btPersistentManifold* manifold = m_predictiveManifolds[i];
|
|
this->m_dispatcher1->releaseManifold(manifold);
|
|
}
|
|
m_predictiveManifolds.clear();
|
|
}
|
|
|
|
void btDiscreteDynamicsWorld::createPredictiveContacts(btScalar timeStep)
|
|
{
|
|
BT_PROFILE("createPredictiveContacts");
|
|
releasePredictiveContacts();
|
|
if (m_nonStaticRigidBodies.size() > 0)
|
|
{
|
|
createPredictiveContactsInternal(&m_nonStaticRigidBodies[0], m_nonStaticRigidBodies.size(), timeStep);
|
|
}
|
|
}
|
|
|
|
void btDiscreteDynamicsWorld::integrateTransformsInternal(btRigidBody** bodies, int numBodies, btScalar timeStep)
|
|
{
|
|
btTransform predictedTrans;
|
|
for (int i = 0; i < numBodies; i++)
|
|
{
|
|
btRigidBody* body = bodies[i];
|
|
body->setHitFraction(1.f);
|
|
|
|
if (body->isActive() && (!body->isStaticOrKinematicObject()))
|
|
{
|
|
body->predictIntegratedTransform(timeStep, predictedTrans);
|
|
|
|
btScalar squareMotion = (predictedTrans.getOrigin() - body->getWorldTransform().getOrigin()).length2();
|
|
|
|
if (getDispatchInfo().m_useContinuous && body->getCcdSquareMotionThreshold() && body->getCcdSquareMotionThreshold() < squareMotion)
|
|
{
|
|
BT_PROFILE("CCD motion clamping");
|
|
if (body->getCollisionShape()->isConvex())
|
|
{
|
|
gNumClampedCcdMotions++;
|
|
#ifdef USE_STATIC_ONLY
|
|
class StaticOnlyCallback : public btClosestNotMeConvexResultCallback
|
|
{
|
|
public:
|
|
StaticOnlyCallback(btCollisionObject* me, const btVector3& fromA, const btVector3& toA, btOverlappingPairCache* pairCache, btDispatcher* dispatcher) : btClosestNotMeConvexResultCallback(me, fromA, toA, pairCache, dispatcher)
|
|
{
|
|
}
|
|
|
|
virtual bool needsCollision(btBroadphaseProxy* proxy0) const
|
|
{
|
|
btCollisionObject* otherObj = (btCollisionObject*)proxy0->m_clientObject;
|
|
if (!otherObj->isStaticOrKinematicObject())
|
|
return false;
|
|
return btClosestNotMeConvexResultCallback::needsCollision(proxy0);
|
|
}
|
|
};
|
|
|
|
StaticOnlyCallback sweepResults(body, body->getWorldTransform().getOrigin(), predictedTrans.getOrigin(), getBroadphase()->getOverlappingPairCache(), getDispatcher());
|
|
#else
|
|
btClosestNotMeConvexResultCallback sweepResults(body, body->getWorldTransform().getOrigin(), predictedTrans.getOrigin(), getBroadphase()->getOverlappingPairCache(), getDispatcher());
|
|
#endif
|
|
//btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
|
|
btSphereShape tmpSphere(body->getCcdSweptSphereRadius()); //btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
|
|
sweepResults.m_allowedPenetration = getDispatchInfo().m_allowedCcdPenetration;
|
|
|
|
sweepResults.m_collisionFilterGroup = body->getBroadphaseProxy()->m_collisionFilterGroup;
|
|
sweepResults.m_collisionFilterMask = body->getBroadphaseProxy()->m_collisionFilterMask;
|
|
btTransform modifiedPredictedTrans = predictedTrans;
|
|
modifiedPredictedTrans.setBasis(body->getWorldTransform().getBasis());
|
|
|
|
convexSweepTest(&tmpSphere, body->getWorldTransform(), modifiedPredictedTrans, sweepResults);
|
|
if (sweepResults.hasHit() && (sweepResults.m_closestHitFraction < 1.f))
|
|
{
|
|
//printf("clamped integration to hit fraction = %f\n",fraction);
|
|
body->setHitFraction(sweepResults.m_closestHitFraction);
|
|
body->predictIntegratedTransform(timeStep * body->getHitFraction(), predictedTrans);
|
|
body->setHitFraction(0.f);
|
|
body->proceedToTransform(predictedTrans);
|
|
|
|
#if 0
|
|
btVector3 linVel = body->getLinearVelocity();
|
|
|
|
btScalar maxSpeed = body->getCcdMotionThreshold()/getSolverInfo().m_timeStep;
|
|
btScalar maxSpeedSqr = maxSpeed*maxSpeed;
|
|
if (linVel.length2()>maxSpeedSqr)
|
|
{
|
|
linVel.normalize();
|
|
linVel*= maxSpeed;
|
|
body->setLinearVelocity(linVel);
|
|
btScalar ms2 = body->getLinearVelocity().length2();
|
|
body->predictIntegratedTransform(timeStep, predictedTrans);
|
|
|
|
btScalar sm2 = (predictedTrans.getOrigin()-body->getWorldTransform().getOrigin()).length2();
|
|
btScalar smt = body->getCcdSquareMotionThreshold();
|
|
printf("sm2=%f\n",sm2);
|
|
}
|
|
#else
|
|
|
|
//don't apply the collision response right now, it will happen next frame
|
|
//if you really need to, you can uncomment next 3 lines. Note that is uses zero restitution.
|
|
//btScalar appliedImpulse = 0.f;
|
|
//btScalar depth = 0.f;
|
|
//appliedImpulse = resolveSingleCollision(body,(btCollisionObject*)sweepResults.m_hitCollisionObject,sweepResults.m_hitPointWorld,sweepResults.m_hitNormalWorld,getSolverInfo(), depth);
|
|
|
|
#endif
|
|
|
|
continue;
|
|
}
|
|
}
|
|
}
|
|
|
|
body->proceedToTransform(predictedTrans);
|
|
}
|
|
}
|
|
}
|
|
|
|
void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
|
|
{
|
|
BT_PROFILE("integrateTransforms");
|
|
if (m_nonStaticRigidBodies.size() > 0)
|
|
{
|
|
integrateTransformsInternal(&m_nonStaticRigidBodies[0], m_nonStaticRigidBodies.size(), timeStep);
|
|
}
|
|
|
|
///this should probably be switched on by default, but it is not well tested yet
|
|
if (m_applySpeculativeContactRestitution)
|
|
{
|
|
BT_PROFILE("apply speculative contact restitution");
|
|
for (int i = 0; i < m_predictiveManifolds.size(); i++)
|
|
{
|
|
btPersistentManifold* manifold = m_predictiveManifolds[i];
|
|
btRigidBody* body0 = btRigidBody::upcast((btCollisionObject*)manifold->getBody0());
|
|
btRigidBody* body1 = btRigidBody::upcast((btCollisionObject*)manifold->getBody1());
|
|
|
|
for (int p = 0; p < manifold->getNumContacts(); p++)
|
|
{
|
|
const btManifoldPoint& pt = manifold->getContactPoint(p);
|
|
btScalar combinedRestitution = gCalculateCombinedRestitutionCallback(body0, body1);
|
|
|
|
if (combinedRestitution > 0 && pt.m_appliedImpulse != 0.f)
|
|
//if (pt.getDistance()>0 && combinedRestitution>0 && pt.m_appliedImpulse != 0.f)
|
|
{
|
|
btVector3 imp = -pt.m_normalWorldOnB * pt.m_appliedImpulse * combinedRestitution;
|
|
|
|
const btVector3& pos1 = pt.getPositionWorldOnA();
|
|
const btVector3& pos2 = pt.getPositionWorldOnB();
|
|
|
|
btVector3 rel_pos0 = pos1 - body0->getWorldTransform().getOrigin();
|
|
btVector3 rel_pos1 = pos2 - body1->getWorldTransform().getOrigin();
|
|
|
|
if (body0)
|
|
body0->applyImpulse(imp, rel_pos0);
|
|
if (body1)
|
|
body1->applyImpulse(-imp, rel_pos1);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void btDiscreteDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
|
|
{
|
|
BT_PROFILE("predictUnconstraintMotion");
|
|
for (int i = 0; i < m_nonStaticRigidBodies.size(); i++)
|
|
{
|
|
btRigidBody* body = m_nonStaticRigidBodies[i];
|
|
if (!body->isStaticOrKinematicObject())
|
|
{
|
|
//don't integrate/update velocities here, it happens in the constraint solver
|
|
|
|
body->applyDamping(timeStep);
|
|
|
|
body->predictIntegratedTransform(timeStep, body->getInterpolationWorldTransform());
|
|
}
|
|
}
|
|
}
|
|
|
|
void btDiscreteDynamicsWorld::startProfiling(btScalar timeStep)
|
|
{
|
|
(void)timeStep;
|
|
|
|
#ifndef BT_NO_PROFILE
|
|
CProfileManager::Reset();
|
|
#endif //BT_NO_PROFILE
|
|
}
|
|
|
|
void btDiscreteDynamicsWorld::debugDrawConstraint(btTypedConstraint* constraint)
|
|
{
|
|
bool drawFrames = (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawConstraints) != 0;
|
|
bool drawLimits = (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawConstraintLimits) != 0;
|
|
btScalar dbgDrawSize = constraint->getDbgDrawSize();
|
|
if (dbgDrawSize <= btScalar(0.f))
|
|
{
|
|
return;
|
|
}
|
|
|
|
switch (constraint->getConstraintType())
|
|
{
|
|
case POINT2POINT_CONSTRAINT_TYPE:
|
|
{
|
|
btPoint2PointConstraint* p2pC = (btPoint2PointConstraint*)constraint;
|
|
btTransform tr;
|
|
tr.setIdentity();
|
|
btVector3 pivot = p2pC->getPivotInA();
|
|
pivot = p2pC->getRigidBodyA().getCenterOfMassTransform() * pivot;
|
|
tr.setOrigin(pivot);
|
|
getDebugDrawer()->drawTransform(tr, dbgDrawSize);
|
|
// that ideally should draw the same frame
|
|
pivot = p2pC->getPivotInB();
|
|
pivot = p2pC->getRigidBodyB().getCenterOfMassTransform() * pivot;
|
|
tr.setOrigin(pivot);
|
|
if (drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
|
|
}
|
|
break;
|
|
case HINGE_CONSTRAINT_TYPE:
|
|
{
|
|
btHingeConstraint* pHinge = (btHingeConstraint*)constraint;
|
|
btTransform tr = pHinge->getRigidBodyA().getCenterOfMassTransform() * pHinge->getAFrame();
|
|
if (drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
|
|
tr = pHinge->getRigidBodyB().getCenterOfMassTransform() * pHinge->getBFrame();
|
|
if (drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
|
|
btScalar minAng = pHinge->getLowerLimit();
|
|
btScalar maxAng = pHinge->getUpperLimit();
|
|
if (minAng == maxAng)
|
|
{
|
|
break;
|
|
}
|
|
bool drawSect = true;
|
|
if (!pHinge->hasLimit())
|
|
{
|
|
minAng = btScalar(0.f);
|
|
maxAng = SIMD_2_PI;
|
|
drawSect = false;
|
|
}
|
|
if (drawLimits)
|
|
{
|
|
btVector3& center = tr.getOrigin();
|
|
btVector3 normal = tr.getBasis().getColumn(2);
|
|
btVector3 axis = tr.getBasis().getColumn(0);
|
|
getDebugDrawer()->drawArc(center, normal, axis, dbgDrawSize, dbgDrawSize, minAng, maxAng, btVector3(0, 0, 0), drawSect);
|
|
}
|
|
}
|
|
break;
|
|
case CONETWIST_CONSTRAINT_TYPE:
|
|
{
|
|
btConeTwistConstraint* pCT = (btConeTwistConstraint*)constraint;
|
|
btTransform tr = pCT->getRigidBodyA().getCenterOfMassTransform() * pCT->getAFrame();
|
|
if (drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
|
|
tr = pCT->getRigidBodyB().getCenterOfMassTransform() * pCT->getBFrame();
|
|
if (drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
|
|
if (drawLimits)
|
|
{
|
|
//const btScalar length = btScalar(5);
|
|
const btScalar length = dbgDrawSize;
|
|
static int nSegments = 8 * 4;
|
|
btScalar fAngleInRadians = btScalar(2. * 3.1415926) * (btScalar)(nSegments - 1) / btScalar(nSegments);
|
|
btVector3 pPrev = pCT->GetPointForAngle(fAngleInRadians, length);
|
|
pPrev = tr * pPrev;
|
|
for (int i = 0; i < nSegments; i++)
|
|
{
|
|
fAngleInRadians = btScalar(2. * 3.1415926) * (btScalar)i / btScalar(nSegments);
|
|
btVector3 pCur = pCT->GetPointForAngle(fAngleInRadians, length);
|
|
pCur = tr * pCur;
|
|
getDebugDrawer()->drawLine(pPrev, pCur, btVector3(0, 0, 0));
|
|
|
|
if (i % (nSegments / 8) == 0)
|
|
getDebugDrawer()->drawLine(tr.getOrigin(), pCur, btVector3(0, 0, 0));
|
|
|
|
pPrev = pCur;
|
|
}
|
|
btScalar tws = pCT->getTwistSpan();
|
|
btScalar twa = pCT->getTwistAngle();
|
|
bool useFrameB = (pCT->getRigidBodyB().getInvMass() > btScalar(0.f));
|
|
if (useFrameB)
|
|
{
|
|
tr = pCT->getRigidBodyB().getCenterOfMassTransform() * pCT->getBFrame();
|
|
}
|
|
else
|
|
{
|
|
tr = pCT->getRigidBodyA().getCenterOfMassTransform() * pCT->getAFrame();
|
|
}
|
|
btVector3 pivot = tr.getOrigin();
|
|
btVector3 normal = tr.getBasis().getColumn(0);
|
|
btVector3 axis1 = tr.getBasis().getColumn(1);
|
|
getDebugDrawer()->drawArc(pivot, normal, axis1, dbgDrawSize, dbgDrawSize, -twa - tws, -twa + tws, btVector3(0, 0, 0), true);
|
|
}
|
|
}
|
|
break;
|
|
case D6_SPRING_CONSTRAINT_TYPE:
|
|
case D6_CONSTRAINT_TYPE:
|
|
{
|
|
btGeneric6DofConstraint* p6DOF = (btGeneric6DofConstraint*)constraint;
|
|
btTransform tr = p6DOF->getCalculatedTransformA();
|
|
if (drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
|
|
tr = p6DOF->getCalculatedTransformB();
|
|
if (drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
|
|
if (drawLimits)
|
|
{
|
|
tr = p6DOF->getCalculatedTransformA();
|
|
const btVector3& center = p6DOF->getCalculatedTransformB().getOrigin();
|
|
btVector3 up = tr.getBasis().getColumn(2);
|
|
btVector3 axis = tr.getBasis().getColumn(0);
|
|
btScalar minTh = p6DOF->getRotationalLimitMotor(1)->m_loLimit;
|
|
btScalar maxTh = p6DOF->getRotationalLimitMotor(1)->m_hiLimit;
|
|
btScalar minPs = p6DOF->getRotationalLimitMotor(2)->m_loLimit;
|
|
btScalar maxPs = p6DOF->getRotationalLimitMotor(2)->m_hiLimit;
|
|
getDebugDrawer()->drawSpherePatch(center, up, axis, dbgDrawSize * btScalar(.9f), minTh, maxTh, minPs, maxPs, btVector3(0, 0, 0));
|
|
axis = tr.getBasis().getColumn(1);
|
|
btScalar ay = p6DOF->getAngle(1);
|
|
btScalar az = p6DOF->getAngle(2);
|
|
btScalar cy = btCos(ay);
|
|
btScalar sy = btSin(ay);
|
|
btScalar cz = btCos(az);
|
|
btScalar sz = btSin(az);
|
|
btVector3 ref;
|
|
ref[0] = cy * cz * axis[0] + cy * sz * axis[1] - sy * axis[2];
|
|
ref[1] = -sz * axis[0] + cz * axis[1];
|
|
ref[2] = cz * sy * axis[0] + sz * sy * axis[1] + cy * axis[2];
|
|
tr = p6DOF->getCalculatedTransformB();
|
|
btVector3 normal = -tr.getBasis().getColumn(0);
|
|
btScalar minFi = p6DOF->getRotationalLimitMotor(0)->m_loLimit;
|
|
btScalar maxFi = p6DOF->getRotationalLimitMotor(0)->m_hiLimit;
|
|
if (minFi > maxFi)
|
|
{
|
|
getDebugDrawer()->drawArc(center, normal, ref, dbgDrawSize, dbgDrawSize, -SIMD_PI, SIMD_PI, btVector3(0, 0, 0), false);
|
|
}
|
|
else if (minFi < maxFi)
|
|
{
|
|
getDebugDrawer()->drawArc(center, normal, ref, dbgDrawSize, dbgDrawSize, minFi, maxFi, btVector3(0, 0, 0), true);
|
|
}
|
|
tr = p6DOF->getCalculatedTransformA();
|
|
btVector3 bbMin = p6DOF->getTranslationalLimitMotor()->m_lowerLimit;
|
|
btVector3 bbMax = p6DOF->getTranslationalLimitMotor()->m_upperLimit;
|
|
getDebugDrawer()->drawBox(bbMin, bbMax, tr, btVector3(0, 0, 0));
|
|
}
|
|
}
|
|
break;
|
|
///note: the code for D6_SPRING_2_CONSTRAINT_TYPE is identical to D6_CONSTRAINT_TYPE, the D6_CONSTRAINT_TYPE+D6_SPRING_CONSTRAINT_TYPE will likely become obsolete/deprecated at some stage
|
|
case D6_SPRING_2_CONSTRAINT_TYPE:
|
|
{
|
|
{
|
|
btGeneric6DofSpring2Constraint* p6DOF = (btGeneric6DofSpring2Constraint*)constraint;
|
|
btTransform tr = p6DOF->getCalculatedTransformA();
|
|
if (drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
|
|
tr = p6DOF->getCalculatedTransformB();
|
|
if (drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
|
|
if (drawLimits)
|
|
{
|
|
tr = p6DOF->getCalculatedTransformA();
|
|
const btVector3& center = p6DOF->getCalculatedTransformB().getOrigin();
|
|
btVector3 up = tr.getBasis().getColumn(2);
|
|
btVector3 axis = tr.getBasis().getColumn(0);
|
|
btScalar minTh = p6DOF->getRotationalLimitMotor(1)->m_loLimit;
|
|
btScalar maxTh = p6DOF->getRotationalLimitMotor(1)->m_hiLimit;
|
|
if (minTh <= maxTh)
|
|
{
|
|
btScalar minPs = p6DOF->getRotationalLimitMotor(2)->m_loLimit;
|
|
btScalar maxPs = p6DOF->getRotationalLimitMotor(2)->m_hiLimit;
|
|
getDebugDrawer()->drawSpherePatch(center, up, axis, dbgDrawSize * btScalar(.9f), minTh, maxTh, minPs, maxPs, btVector3(0, 0, 0));
|
|
}
|
|
axis = tr.getBasis().getColumn(1);
|
|
btScalar ay = p6DOF->getAngle(1);
|
|
btScalar az = p6DOF->getAngle(2);
|
|
btScalar cy = btCos(ay);
|
|
btScalar sy = btSin(ay);
|
|
btScalar cz = btCos(az);
|
|
btScalar sz = btSin(az);
|
|
btVector3 ref;
|
|
ref[0] = cy * cz * axis[0] + cy * sz * axis[1] - sy * axis[2];
|
|
ref[1] = -sz * axis[0] + cz * axis[1];
|
|
ref[2] = cz * sy * axis[0] + sz * sy * axis[1] + cy * axis[2];
|
|
tr = p6DOF->getCalculatedTransformB();
|
|
btVector3 normal = -tr.getBasis().getColumn(0);
|
|
btScalar minFi = p6DOF->getRotationalLimitMotor(0)->m_loLimit;
|
|
btScalar maxFi = p6DOF->getRotationalLimitMotor(0)->m_hiLimit;
|
|
if (minFi > maxFi)
|
|
{
|
|
getDebugDrawer()->drawArc(center, normal, ref, dbgDrawSize, dbgDrawSize, -SIMD_PI, SIMD_PI, btVector3(0, 0, 0), false);
|
|
}
|
|
else if (minFi < maxFi)
|
|
{
|
|
getDebugDrawer()->drawArc(center, normal, ref, dbgDrawSize, dbgDrawSize, minFi, maxFi, btVector3(0, 0, 0), true);
|
|
}
|
|
tr = p6DOF->getCalculatedTransformA();
|
|
btVector3 bbMin = p6DOF->getTranslationalLimitMotor()->m_lowerLimit;
|
|
btVector3 bbMax = p6DOF->getTranslationalLimitMotor()->m_upperLimit;
|
|
getDebugDrawer()->drawBox(bbMin, bbMax, tr, btVector3(0, 0, 0));
|
|
}
|
|
}
|
|
break;
|
|
}
|
|
case SLIDER_CONSTRAINT_TYPE:
|
|
{
|
|
btSliderConstraint* pSlider = (btSliderConstraint*)constraint;
|
|
btTransform tr = pSlider->getCalculatedTransformA();
|
|
if (drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
|
|
tr = pSlider->getCalculatedTransformB();
|
|
if (drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
|
|
if (drawLimits)
|
|
{
|
|
btTransform tr = pSlider->getUseLinearReferenceFrameA() ? pSlider->getCalculatedTransformA() : pSlider->getCalculatedTransformB();
|
|
btVector3 li_min = tr * btVector3(pSlider->getLowerLinLimit(), 0.f, 0.f);
|
|
btVector3 li_max = tr * btVector3(pSlider->getUpperLinLimit(), 0.f, 0.f);
|
|
getDebugDrawer()->drawLine(li_min, li_max, btVector3(0, 0, 0));
|
|
btVector3 normal = tr.getBasis().getColumn(0);
|
|
btVector3 axis = tr.getBasis().getColumn(1);
|
|
btScalar a_min = pSlider->getLowerAngLimit();
|
|
btScalar a_max = pSlider->getUpperAngLimit();
|
|
const btVector3& center = pSlider->getCalculatedTransformB().getOrigin();
|
|
getDebugDrawer()->drawArc(center, normal, axis, dbgDrawSize, dbgDrawSize, a_min, a_max, btVector3(0, 0, 0), true);
|
|
}
|
|
}
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
return;
|
|
}
|
|
|
|
void btDiscreteDynamicsWorld::setConstraintSolver(btConstraintSolver* solver)
|
|
{
|
|
if (m_ownsConstraintSolver)
|
|
{
|
|
btAlignedFree(m_constraintSolver);
|
|
}
|
|
m_ownsConstraintSolver = false;
|
|
m_constraintSolver = solver;
|
|
m_solverIslandCallback->m_solver = solver;
|
|
}
|
|
|
|
btConstraintSolver* btDiscreteDynamicsWorld::getConstraintSolver()
|
|
{
|
|
return m_constraintSolver;
|
|
}
|
|
|
|
int btDiscreteDynamicsWorld::getNumConstraints() const
|
|
{
|
|
return int(m_constraints.size());
|
|
}
|
|
btTypedConstraint* btDiscreteDynamicsWorld::getConstraint(int index)
|
|
{
|
|
return m_constraints[index];
|
|
}
|
|
const btTypedConstraint* btDiscreteDynamicsWorld::getConstraint(int index) const
|
|
{
|
|
return m_constraints[index];
|
|
}
|
|
|
|
void btDiscreteDynamicsWorld::serializeRigidBodies(btSerializer* serializer)
|
|
{
|
|
int i;
|
|
//serialize all collision objects
|
|
for (i = 0; i < m_collisionObjects.size(); i++)
|
|
{
|
|
btCollisionObject* colObj = m_collisionObjects[i];
|
|
if (colObj->getInternalType() & btCollisionObject::CO_RIGID_BODY)
|
|
{
|
|
int len = colObj->calculateSerializeBufferSize();
|
|
btChunk* chunk = serializer->allocate(len, 1);
|
|
const char* structType = colObj->serialize(chunk->m_oldPtr, serializer);
|
|
serializer->finalizeChunk(chunk, structType, BT_RIGIDBODY_CODE, colObj);
|
|
}
|
|
}
|
|
|
|
for (i = 0; i < m_constraints.size(); i++)
|
|
{
|
|
btTypedConstraint* constraint = m_constraints[i];
|
|
int size = constraint->calculateSerializeBufferSize();
|
|
btChunk* chunk = serializer->allocate(size, 1);
|
|
const char* structType = constraint->serialize(chunk->m_oldPtr, serializer);
|
|
serializer->finalizeChunk(chunk, structType, BT_CONSTRAINT_CODE, constraint);
|
|
}
|
|
}
|
|
|
|
void btDiscreteDynamicsWorld::serializeDynamicsWorldInfo(btSerializer* serializer)
|
|
{
|
|
#ifdef BT_USE_DOUBLE_PRECISION
|
|
int len = sizeof(btDynamicsWorldDoubleData);
|
|
btChunk* chunk = serializer->allocate(len, 1);
|
|
btDynamicsWorldDoubleData* worldInfo = (btDynamicsWorldDoubleData*)chunk->m_oldPtr;
|
|
#else //BT_USE_DOUBLE_PRECISION
|
|
int len = sizeof(btDynamicsWorldFloatData);
|
|
btChunk* chunk = serializer->allocate(len, 1);
|
|
btDynamicsWorldFloatData* worldInfo = (btDynamicsWorldFloatData*)chunk->m_oldPtr;
|
|
#endif //BT_USE_DOUBLE_PRECISION
|
|
|
|
memset(worldInfo, 0x00, len);
|
|
|
|
m_gravity.serialize(worldInfo->m_gravity);
|
|
worldInfo->m_solverInfo.m_tau = getSolverInfo().m_tau;
|
|
worldInfo->m_solverInfo.m_damping = getSolverInfo().m_damping;
|
|
worldInfo->m_solverInfo.m_friction = getSolverInfo().m_friction;
|
|
worldInfo->m_solverInfo.m_timeStep = getSolverInfo().m_timeStep;
|
|
|
|
worldInfo->m_solverInfo.m_restitution = getSolverInfo().m_restitution;
|
|
worldInfo->m_solverInfo.m_maxErrorReduction = getSolverInfo().m_maxErrorReduction;
|
|
worldInfo->m_solverInfo.m_sor = getSolverInfo().m_sor;
|
|
worldInfo->m_solverInfo.m_erp = getSolverInfo().m_erp;
|
|
|
|
worldInfo->m_solverInfo.m_erp2 = getSolverInfo().m_erp2;
|
|
worldInfo->m_solverInfo.m_globalCfm = getSolverInfo().m_globalCfm;
|
|
worldInfo->m_solverInfo.m_splitImpulsePenetrationThreshold = getSolverInfo().m_splitImpulsePenetrationThreshold;
|
|
worldInfo->m_solverInfo.m_splitImpulseTurnErp = getSolverInfo().m_splitImpulseTurnErp;
|
|
|
|
worldInfo->m_solverInfo.m_linearSlop = getSolverInfo().m_linearSlop;
|
|
worldInfo->m_solverInfo.m_warmstartingFactor = getSolverInfo().m_warmstartingFactor;
|
|
worldInfo->m_solverInfo.m_maxGyroscopicForce = getSolverInfo().m_maxGyroscopicForce;
|
|
worldInfo->m_solverInfo.m_singleAxisRollingFrictionThreshold = getSolverInfo().m_singleAxisRollingFrictionThreshold;
|
|
|
|
worldInfo->m_solverInfo.m_numIterations = getSolverInfo().m_numIterations;
|
|
worldInfo->m_solverInfo.m_solverMode = getSolverInfo().m_solverMode;
|
|
worldInfo->m_solverInfo.m_restingContactRestitutionThreshold = getSolverInfo().m_restingContactRestitutionThreshold;
|
|
worldInfo->m_solverInfo.m_minimumSolverBatchSize = getSolverInfo().m_minimumSolverBatchSize;
|
|
|
|
worldInfo->m_solverInfo.m_splitImpulse = getSolverInfo().m_splitImpulse;
|
|
|
|
// Fill padding with zeros to appease msan.
|
|
memset(worldInfo->m_solverInfo.m_padding, 0, sizeof(worldInfo->m_solverInfo.m_padding));
|
|
|
|
#ifdef BT_USE_DOUBLE_PRECISION
|
|
const char* structType = "btDynamicsWorldDoubleData";
|
|
#else //BT_USE_DOUBLE_PRECISION
|
|
const char* structType = "btDynamicsWorldFloatData";
|
|
#endif //BT_USE_DOUBLE_PRECISION
|
|
serializer->finalizeChunk(chunk, structType, BT_DYNAMICSWORLD_CODE, worldInfo);
|
|
}
|
|
|
|
void btDiscreteDynamicsWorld::serialize(btSerializer* serializer)
|
|
{
|
|
serializer->startSerialization();
|
|
|
|
serializeDynamicsWorldInfo(serializer);
|
|
|
|
serializeCollisionObjects(serializer);
|
|
|
|
serializeRigidBodies(serializer);
|
|
|
|
serializeContactManifolds(serializer);
|
|
|
|
serializer->finishSerialization();
|
|
}
|