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Code Issues Releases Wiki Activity

make relative contact breaking threshold optional (use dispatcher->setDispatcherFlags(0) to turn off feature)

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This commit is contained in:
erwin.coumans 2009-12-13 20:22:21 +00:00
parent 8444d0e5c4
commit 0a6f7b271d
4 changed files with 29 additions and 20 deletions
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16
src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
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@ -34,9 +34,7 @@ int gNumManifold = 0;
btCollisionDispatcher::btCollisionDispatcher (btCollisionConfiguration* collisionConfiguration):
m_count(0),
m_useIslands(true),
m_staticWarningReported(false),
m_dispatcherFlags(btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD),
m_collisionConfiguration(collisionConfiguration)
{
int i;
@ -79,9 +77,11 @@ btPersistentManifold* btCollisionDispatcher::getNewManifold(void* b0,void* b1)
btCollisionObject* body0 = (btCollisionObject*)b0;
btCollisionObject* body1 = (btCollisionObject*)b1;
//test for Bullet 2.74: use a relative contact breaking threshold without clamping against 'gContactBreakingThreshold'
//btScalar contactBreakingThreshold = btMin(gContactBreakingThreshold,btMin(body0->getCollisionShape()->getContactBreakingThreshold(),body1->getCollisionShape()->getContactBreakingThreshold()));
btScalar contactBreakingThreshold = btMin(body0->getCollisionShape()->getContactBreakingThreshold(),body1->getCollisionShape()->getContactBreakingThreshold());
//optional relative contact breaking threshold, turned on by default (use setDispatcherFlags to switch off feature for improved performance)
btScalar contactBreakingThreshold = (m_dispatcherFlags & btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD) ?
btMin(body0->getCollisionShape()->getContactBreakingThreshold(gContactBreakingThreshold) , body1->getCollisionShape()->getContactBreakingThreshold(gContactBreakingThreshold))
: gContactBreakingThreshold ;
btScalar contactProcessingThreshold = btMin(body0->getContactProcessingThreshold(),body1->getContactProcessingThreshold());
@ -169,13 +169,13 @@ bool btCollisionDispatcher::needsCollision(btCollisionObject* body0,btCollisionO
bool needsCollision = true;
#ifdef BT_DEBUG
if (!m_staticWarningReported)
if (!(m_dispatcherFlags & btCollisionDispatcher::CD_STATIC_STATIC_REPORTED))
{
//broadphase filtering already deals with this
if ((body0->isStaticObject() || body0->isKinematicObject()) &&
(body1->isStaticObject() || body1->isKinematicObject()))
{
m_staticWarningReported = true;
m_dispatcherFlags |= btCollisionDispatcher::CD_STATIC_STATIC_REPORTED;
printf("warning btCollisionDispatcher::needsCollision: static-static collision!\n");
}
}

23
src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h
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@ -42,14 +42,10 @@ typedef void (*btNearCallback)(btBroadphasePair& collisionPair, btCollisionDispa
///Time of Impact, Closest Points and Penetration Depth.
class btCollisionDispatcher : public btDispatcher
{
int m_count;
int m_dispatcherFlags;
btAlignedObjectArray<btPersistentManifold*> m_manifoldsPtr;
bool m_useIslands;
bool m_staticWarningReported;
btManifoldResult m_defaultManifoldResult;
btNearCallback m_nearCallback;
@ -59,13 +55,28 @@ class btCollisionDispatcher : public btDispatcher
btPoolAllocator* m_persistentManifoldPoolAllocator;
btCollisionAlgorithmCreateFunc* m_doubleDispatch[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES];
btCollisionConfiguration* m_collisionConfiguration;
public:
enum DispatcherFlags
{
CD_STATIC_STATIC_REPORTED = 1,
CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD = 2
};
int getDispatherFlags() const
{
return m_dispatcherFlags;
}
void setDispatcherFlags(int flags)
{
m_dispatcherFlags = 0;
}
///registerCollisionCreateFunc allows registration of custom/alternative collision create functions
void registerCollisionCreateFunc(int proxyType0,int proxyType1, btCollisionAlgorithmCreateFunc* createFunc);

8
src/BulletCollision/CollisionShapes/btCollisionShape.cpp
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@ -15,9 +15,6 @@ subject to the following restrictions:
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
btScalar gContactThresholdFactor=btScalar(0.02);
/*
Make sure this dummy function never changes so that it
can be used by probes that are checking whether the
@ -45,10 +42,11 @@ void btCollisionShape::getBoundingSphere(btVector3& center,btScalar& radius) con
}
btScalar btCollisionShape::getContactBreakingThreshold() const
btScalar btCollisionShape::getContactBreakingThreshold(btScalar defaultContactThreshold) const
{
return getAngularMotionDisc() * gContactThresholdFactor;
return getAngularMotionDisc() * defaultContactThreshold;
}
btScalar btCollisionShape::getAngularMotionDisc() const
{
///@todo cache this value, to improve performance

2
src/BulletCollision/CollisionShapes/btCollisionShape.h
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@ -48,7 +48,7 @@ public:
///getAngularMotionDisc returns the maximus radius needed for Conservative Advancement to handle time-of-impact with rotations.
virtual btScalar getAngularMotionDisc() const;
virtual btScalar getContactBreakingThreshold() const;
virtual btScalar getContactBreakingThreshold(btScalar defaultContactThresholdFactor) const;
///calculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0..timeStep)