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Code Issues Releases Wiki Activity

more compounds work, the basics work. now some stackless tree-tree traversal is needed to speedup compound versus compound.

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This commit is contained in:
ejcoumans 2006-07-24 23:06:59 +00:00
parent fdaa3a7abc
commit 50a2694c5b
12 changed files with 92 additions and 24 deletions
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1
Bullet/CollisionDispatch/CollisionObject.cpp
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@ -25,6 +25,7 @@ CollisionObject::CollisionObject()
m_ccdSweptShereRadius(0.f),
m_ccdSquareMotionTreshold(0.f)
{
m_cachedInvertedWorldTransform.setIdentity();
}

4
Bullet/CollisionDispatch/CollisionObject.h
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@ -38,7 +38,9 @@ struct CollisionObject
//m_interpolationWorldTransform is used for CCD and interpolation
//it can be either previous or future (predicted) transform
SimdTransform m_interpolationWorldTransform;
SimdTransform m_cachedInvertedWorldTransform;
enum CollisionFlags
{
isStatic = 1,

9
Bullet/CollisionDispatch/CompoundCollisionAlgorithm.cpp
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@ -72,11 +72,20 @@ void CompoundCollisionAlgorithm::ProcessCollision (BroadphaseProxy* ,BroadphaseP
//temporarily exchange parent CollisionShape with childShape, and recurse
CollisionShape* childShape = compoundShape->GetChildShape(i);
CollisionObject* colObj = static_cast<CollisionObject*>(m_childProxies[i].m_clientObject);
//backup
SimdTransform orgTrans = colObj->m_worldTransform;
CollisionShape* orgShape = colObj->m_collisionShape;
SimdTransform childTrans = compoundShape->GetChildTransform(i);
SimdTransform newChildWorldTrans = orgTrans*childTrans ;
colObj->m_worldTransform = newChildWorldTrans;
colObj->m_collisionShape = childShape;
m_childCollisionAlgorithms[i]->ProcessCollision(&m_childProxies[i],&m_otherProxy,dispatchInfo);
//revert back
colObj->m_collisionShape =orgShape;
colObj->m_worldTransform = orgTrans;
}
}

8
Bullet/CollisionDispatch/ManifoldResult.cpp
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@ -31,8 +31,12 @@ void ManifoldResult::AddContactPoint(const SimdVector3& normalOnBInWorld,const S
if (depth > m_manifoldPtr->GetContactBreakingTreshold())
return;
SimdTransform transAInv = m_body0->m_worldTransform.inverse();
SimdTransform transBInv= m_body1->m_worldTransform.inverse();
SimdTransform transAInv = m_body0->m_cachedInvertedWorldTransform;
SimdTransform transBInv= m_body1->m_cachedInvertedWorldTransform;
//transAInv = m_body0->m_worldTransform.inverse();
//transBInv= m_body1->m_worldTransform.inverse();
SimdVector3 pointA = pointInWorld + normalOnBInWorld * depth;
SimdVector3 localA = transAInv(pointA );
SimdVector3 localB = transBInv(pointInWorld);

3
Bullet/CollisionDispatch/SimulationIslandManager.cpp
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@ -113,6 +113,7 @@ void SimulationIslandManager::StoreIslandActivationState(CollisionWorld* colWorl
//
void SimulationIslandManager::BuildAndProcessIslands(Dispatcher* dispatcher,CollisionObjectArray& collisionObjects, IslandCallback* callback)
{
int numBodies = collisionObjects.size();
for (int islandId=0;islandId<numBodies;islandId++)
@ -128,8 +129,10 @@ void SimulationIslandManager::BuildAndProcessIslands(Dispatcher* dispatcher,Coll
for (i=0;i<numBodies;i++)
{
CollisionObject* colObj0 = collisionObjects[i];
if (colObj0->m_islandTag1 == islandId)
{
if (colObj0->GetActivationState()== ACTIVE_TAG)
{
allSleeping = false;

1
Bullet/CollisionShapes/CompoundShape.cpp
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@ -77,6 +77,7 @@ void CompoundShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
{
//approximation: take the inertia from the aabb for now
SimdTransform ident;
ident.setIdentity();
SimdVector3 aabbMin,aabbMax;
GetAabb(ident,aabbMin,aabbMax);

34
Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
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@ -54,7 +54,7 @@ subject to the following restrictions:
float deltaTime = 1.f/60.f;
float bulletSpeed = 40.f;
bool createConstraint = true;
#ifdef WIN32
#if _MSC_VER >= 1310
//only use SIMD Hull code under Win32
@ -89,6 +89,9 @@ extern int glutScreenHeight;
const int maxProxies = 32766;
const int maxOverlap = 65535;
bool createConstraint = true;//false;
bool useCompound = true;//false;
#ifdef _DEBUG
const int numObjects = 20;
@ -124,7 +127,7 @@ CollisionShape* shapePtr[numShapes] =
#ifdef USE_GROUND_PLANE
new StaticPlaneShape(SimdVector3(0,1,0),10),
#else
new BoxShape (SimdVector3(450,10,450)),
new BoxShape (SimdVector3(50,10,50)),
#endif
new BoxShape (SimdVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)),
@ -170,7 +173,7 @@ int main(int argc,char** argv)
#endif
physicsEnvironmentPtr->setDeactivationTime(2.f);
physicsEnvironmentPtr->setGravity(0,-10,0);
physicsEnvironmentPtr->setGravity(0,-10,0);//0,0);//-10,0);
PHY_ShapeProps shapeProps;
shapeProps.m_do_anisotropic = false;
@ -205,13 +208,19 @@ int main(int argc,char** argv)
shapeIndex[i] = 0;
}
CompoundShape* compoundShape = new CompoundShape();
//shapePtr[1] = compoundShape;
if (useCompound)
{
CompoundShape* compoundShape = new CompoundShape();
CollisionShape* oldShape = shapePtr[1];
shapePtr[1] = compoundShape;
SimdTransform ident;
ident.setIdentity();
compoundShape->AddChildShape(ident,new BoxShape (SimdVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)));
SimdTransform ident;
ident.setIdentity();
ident.setOrigin(SimdVector3(0,0,0));
compoundShape->AddChildShape(ident,oldShape);//
ident.setOrigin(SimdVector3(0,0,2));
compoundShape->AddChildShape(ident,new SphereShape(0.9));//
}
for (i=0;i<numObjects;i++)
{
@ -509,11 +518,13 @@ void renderme()
ident.setIdentity();
ident.getOpenGLMatrix(vec);
glPushMatrix();
glLoadMatrixf(vec);
glLoadMatrixf(vec);
GL_ShapeDrawer::DrawOpenGL(m,physObjects[i]->GetRigidBody()->GetCollisionShape(),wireColor,getDebugMode());
glPopMatrix();
///this block is just experimental code to show some internal issues with replacing shapes on the fly.
if (getDebugMode()!=0 && (i>0))
{
@ -668,6 +679,9 @@ void clientDisplay(void) {
physicsEnvironmentPtr->UpdateAabbs(deltaTime);
//draw contactpoints
physicsEnvironmentPtr->CallbackTriggers();
renderme();

3
Demos/OpenGL/GLDebugDrawer.cpp
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@ -51,7 +51,8 @@ void GLDebugDrawer::DrawContactPoint(const SimdVector3& pointOnB,const SimdVecto
glVertex3d(from.getX(), from.getY(), from.getZ());
glVertex3d(to.getX(), to.getY(), to.getZ());
glEnd();
glRasterPos3f(from.x(), from.y(), from.z());
char buf[12];
sprintf(buf," %d",lifeTime);

14
Demos/OpenGL/GL_ShapeDrawer.cpp
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@ -114,7 +114,7 @@ void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const Sim
if (shape->GetShapeType() == COMPOUND_SHAPE_PROXYTYPE)
{
const CompoundShape* compoundShape = static_cast<const CompoundShape*>(shape);
for (int i=0;i<compoundShape->GetNumChildShapes();i++)
for (int i=compoundShape->GetNumChildShapes()-1;i>=0;i--)
{
SimdTransform childTrans = compoundShape->GetChildTransform(i);
const CollisionShape* colShape = compoundShape->GetChildShape(i);
@ -123,16 +123,15 @@ void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const Sim
DrawOpenGL(childMat,colShape,color,debugMode);
}
return;
} else
{
//DrawCoordSystem();
glPushMatrix();
//glPushMatrix();
glEnable(GL_COLOR_MATERIAL);
glColor3f(color.x(),color.y(), color.z());
glRasterPos3f(0.0, 0.0, 0.0);
bool useWireframeFallback = true;
@ -268,6 +267,7 @@ void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const Sim
if (debugMode==IDebugDraw::DBG_DrawFeaturesText)
{
glRasterPos3f(0.0, 0.0, 0.0);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),polyshape->GetExtraDebugInfo());
glColor3f(1.f, 1.f, 1.f);
@ -329,7 +329,7 @@ void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const Sim
}
glDisable(GL_DEPTH_BUFFER_BIT);
/*glDisable(GL_DEPTH_BUFFER_BIT);
if (debugMode==IDebugDraw::DBG_DrawText)
{
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),shape->GetName());
@ -340,7 +340,9 @@ void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const Sim
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),shape->GetExtraDebugInfo());
}
glEnable(GL_DEPTH_BUFFER_BIT);
glPopMatrix();
*/
// glPopMatrix();
}
glPopMatrix();

22
Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp
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@ -386,7 +386,8 @@ void CcdPhysicsEnvironment::addCcdPhysicsController(CcdPhysicsController* ctrl)
assert(shapeinterface);
const SimdTransform& t = ctrl->GetRigidBody()->getCenterOfMassTransform();
body->m_cachedInvertedWorldTransform = body->m_worldTransform.inverse();
SimdPoint3 minAabb,maxAabb;
@ -638,6 +639,9 @@ bool CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
CcdPhysicsController* ctrl = m_controllers[k];
// SimdTransform predictedTrans;
RigidBody* body = ctrl->GetRigidBody();
body->m_cachedInvertedWorldTransform = body->m_worldTransform.inverse();
if (body->IsActive())
{
if (!body->IsStatic())
@ -1558,10 +1562,10 @@ void CcdPhysicsEnvironment::requestCollisionCallback(PHY_IPhysicsController* ctr
void CcdPhysicsEnvironment::CallbackTriggers()
{
/*
CcdPhysicsController* ctrl0=0,*ctrl1=0;
if (m_triggerCallbacks[PHY_OBJECT_RESPONSE])
if (m_triggerCallbacks[PHY_OBJECT_RESPONSE] || (m_debugDrawer && (m_debugDrawer->GetDebugMode() & IDebugDraw::DBG_DrawContactPoints)))
{
//walk over all overlapping pairs, and if one of the involved bodies is registered for trigger callback, perform callback
int numManifolds = m_collisionWorld->GetDispatcher()->GetNumManifolds();
@ -1571,6 +1575,16 @@ void CcdPhysicsEnvironment::CallbackTriggers()
int numContacts = manifold->GetNumContacts();
if (numContacts)
{
if (m_debugDrawer && (m_debugDrawer->GetDebugMode() & IDebugDraw::DBG_DrawContactPoints))
{
for (int j=0;j<numContacts;j++)
{
SimdVector3 color(1,0,0);
const ManifoldPoint& cp = manifold->GetContactPoint(j);
if (m_debugDrawer)
m_debugDrawer->DrawContactPoint(cp.m_positionWorldOnB,cp.m_normalWorldOnB,cp.GetDistance(),cp.GetLifeTime(),color);
}
}
RigidBody* obj0 = static_cast<RigidBody* >(manifold->GetBody0());
RigidBody* obj1 = static_cast<RigidBody* >(manifold->GetBody1());
@ -1596,7 +1610,7 @@ void CcdPhysicsEnvironment::CallbackTriggers()
}
*/
}

14
Extras/PhysicsInterface/CcdPhysics/ParallelIslandDispatcher.cpp
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@ -21,6 +21,8 @@ subject to the following restrictions:
#include "CollisionDispatch/ConvexConvexAlgorithm.h"
#include "CollisionDispatch/EmptyCollisionAlgorithm.h"
#include "CollisionDispatch/ConvexConcaveCollisionAlgorithm.h"
#include "CollisionDispatch/CompoundCollisionAlgorithm.h"
#include "CollisionShapes/CollisionShape.h"
#include "CollisionDispatch/CollisionObject.h"
#include <algorithm>
@ -211,6 +213,18 @@ CollisionAlgorithm* ParallelIslandDispatcher::InternalFindAlgorithm(BroadphasePr
return new ConvexConcaveCollisionAlgorithm(ci,&proxy1,&proxy0);
}
if (body0->m_collisionShape->IsCompound())
{
return new CompoundCollisionAlgorithm(ci,&proxy0,&proxy1);
} else
{
if (body1->m_collisionShape->IsCompound())
{
return new CompoundCollisionAlgorithm(ci,&proxy1,&proxy0);
}
}
//failed to find an algorithm
return new EmptyAlgorithm(ci);

3
Extras/PhysicsInterface/CcdPhysics/SimulationIsland.cpp
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@ -46,6 +46,9 @@ bool SimulationIsland::Simulate(IDebugDraw* debugDrawer,int numSolverIterations,
CcdPhysicsController* ctrl = m_controllers[k];
// SimdTransform predictedTrans;
RigidBody* body = ctrl->GetRigidBody();
//todo: only do this when necessary, it's used for contact points
body->m_cachedInvertedWorldTransform = body->m_worldTransform.inverse();
if (body->IsActive())
{
if (!body->IsStatic())