AuroraMiddleware/bullet3
1
0
Fork 0
mirror of https://github.com/bulletphysics/bullet3 synced 2025-01-11 09:50:06 +00:00
Code Issues Releases Wiki Activity

Thanks to Mårten Svanfeldt for the contribution:

Browse Source 
- optionally disable collisions between bodies that are linked with constraints
- improved debug rendering with support for compounds, spheres, capsules
This commit is contained in:
ejcoumans 2007-06-28 19:14:30 +00:00
parent a0c5401033
commit ced94d63bf
9 changed files with 1204 additions and 1037 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
View File

@ -273,6 +273,8 @@ bool btCollisionDispatcher::needsCollision(btCollisionObject* body0,btCollisionO
if ((!body0->isActive()) && (!body1->isActive()))
needsCollision = false;
else if (!body0->checkCollideWith(body1))
needsCollision = false;
return needsCollision ;

3
src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
View File

@ -24,7 +24,8 @@ btCollisionObject::btCollisionObject()
m_userObjectPointer(0),
m_hitFraction(btScalar(1.)),
m_ccdSweptSphereRadius(btScalar(0.)),
m_ccdSquareMotionThreshold(btScalar(0.))
m_ccdSquareMotionThreshold(btScalar(0.)),
m_checkCollideWith(false)
{
}

27
src/BulletCollision/CollisionDispatch/btCollisionObject.h
View File

@ -69,15 +69,23 @@ protected:
void* m_internalOwner;
///time of impact calculation
btScalar m_hitFraction;
btScalar m_hitFraction;
///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
btScalar m_ccdSweptSphereRadius;
btScalar m_ccdSweptSphereRadius;
/// Don't do continuous collision detection if square motion (in one step) is less then m_ccdSquareMotionThreshold
btScalar m_ccdSquareMotionThreshold;
btScalar m_ccdSquareMotionThreshold;
char m_pad[8];
/// If some object should have elaborate collision filtering by sub-classes
bool m_checkCollideWith;
char m_pad[7];
virtual bool checkCollideWithOverride(btCollisionObject* co)
{
return true;
}
public:
@ -159,7 +167,7 @@ public:
return ((getActivationState() != ISLAND_SLEEPING) && (getActivationState() != DISABLE_SIMULATION));
}
void setRestitution(btScalar rest)
void setRestitution(btScalar rest)
{
m_restitution = rest;
}
@ -322,6 +330,15 @@ public:
m_userObjectPointer = userPointer;
}
inline bool checkCollideWith(btCollisionObject* co)
{
if (m_checkCollideWith)
return checkCollideWithOverride(co);
return true;
}
}
;

36
src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
View File

@ -290,16 +290,32 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback
for(int x=startX; x<endX; x++)
{
btVector3 vertices[3];
//first triangle
getVertex(x,j,vertices[0]);
getVertex(x,j+1,vertices[1]);
getVertex(x+1,j,vertices[2]);
callback->processTriangle(vertices,x,j);
//second triangle
getVertex(x+1,j,vertices[0]);
getVertex(x,j+1,vertices[1]);
getVertex(x+1,j+1,vertices[2]);
callback->processTriangle(vertices,x,j);
if (!m_flipQuadEdges)
{
//first triangle
getVertex(x,j,vertices[0]);
getVertex(x,j+1,vertices[1]);
getVertex(x+1,j,vertices[2]);
callback->processTriangle(vertices,x,j);
//second triangle
getVertex(x+1,j,vertices[0]);
getVertex(x,j+1,vertices[1]);
getVertex(x+1,j+1,vertices[2]);
callback->processTriangle(vertices,x,j);
} else
{
//first triangle
getVertex(x,j,vertices[0]);
getVertex(x+1,j,vertices[1]);
getVertex(x+1,j+1,vertices[2]);
callback->processTriangle(vertices,x,j);
//second triangle
getVertex(x,j,vertices[0]);
getVertex(x+1,j+1,vertices[1]);
getVertex(x,j+1,vertices[2]);
callback->processTriangle(vertices,x,j);
}
}
}

14
src/BulletCollision/CollisionShapes/btMultiSphereShape.h
View File

@ -46,6 +46,20 @@ public:
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
int getSphereCount() const
{
return m_numSpheres;
}
const btVector3& getSpherePosition(int index) const
{
return m_localPositions[index];
}
btScalar getSphereRadius(int index) const
{
return m_radi[index];
}
virtual int getShapeType() const { return MULTI_SPHERE_SHAPE_PROXYTYPE; }

1805
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
View File

File diff suppressed because it is too large Load Diff

309
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
View File

@ -1,154 +1,155 @@
/*
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_DISCRETE_DYNAMICS_WORLD_H
#define BT_DISCRETE_DYNAMICS_WORLD_H
#include "btDynamicsWorld.h"
class btDispatcher;
class btOverlappingPairCache;
class btConstraintSolver;
class btSimulationIslandManager;
class btTypedConstraint;
#include "../ConstraintSolver/btContactSolverInfo.h"
class btRaycastVehicle;
class btIDebugDraw;
#include "../../LinearMath/btAlignedObjectArray.h"
///btDiscreteDynamicsWorld provides discrete rigid body simulation
///those classes replace the obsolete CcdPhysicsEnvironment/CcdPhysicsController
class btDiscreteDynamicsWorld : public btDynamicsWorld
{
protected:
btConstraintSolver* m_constraintSolver;
btSimulationIslandManager* m_islandManager;
btAlignedObjectArray<btTypedConstraint*> m_constraints;
btIDebugDraw* m_debugDrawer;
btVector3 m_gravity;
//for variable timesteps
btScalar m_localTime;
//for variable timesteps
bool m_ownsIslandManager;
bool m_ownsConstraintSolver;
btContactSolverInfo m_solverInfo;
btAlignedObjectArray<btRaycastVehicle*> m_vehicles;
int m_profileTimings;
void predictUnconstraintMotion(btScalar timeStep);
void integrateTransforms(btScalar timeStep);
void calculateSimulationIslands();
void solveConstraints(btContactSolverInfo& solverInfo);
void updateActivationState(btScalar timeStep);
void updateVehicles(btScalar timeStep);
void startProfiling(btScalar timeStep);
virtual void internalSingleStepSimulation( btScalar timeStep);
void synchronizeMotionStates();
void saveKinematicState(btScalar timeStep);
public:
///this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those
btDiscreteDynamicsWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache,btConstraintSolver* constraintSolver);
virtual ~btDiscreteDynamicsWorld();
///if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's
virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.));
virtual void updateAabbs();
void addConstraint(btTypedConstraint* constraint);
void removeConstraint(btTypedConstraint* constraint);
void addVehicle(btRaycastVehicle* vehicle);
void removeVehicle(btRaycastVehicle* vehicle);
btSimulationIslandManager* getSimulationIslandManager()
{
return m_islandManager;
}
const btSimulationIslandManager* getSimulationIslandManager() const
{
return m_islandManager;
}
btCollisionWorld* getCollisionWorld()
{
return this;
}
virtual void setDebugDrawer(btIDebugDraw* debugDrawer)
{
m_debugDrawer = debugDrawer;
}
virtual btIDebugDraw* getDebugDrawer()
{
return m_debugDrawer;
}
virtual void setGravity(const btVector3& gravity);
virtual void addRigidBody(btRigidBody* body);
virtual void removeRigidBody(btRigidBody* body);
void debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color);
virtual void setConstraintSolver(btConstraintSolver* solver);
virtual int getNumConstraints() const;
virtual btTypedConstraint* getConstraint(int index) ;
virtual const btTypedConstraint* getConstraint(int index) const;
btContactSolverInfo& getSolverInfo()
{
return m_solverInfo;
}
};
#endif //BT_DISCRETE_DYNAMICS_WORLD_H
/*
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_DISCRETE_DYNAMICS_WORLD_H
#define BT_DISCRETE_DYNAMICS_WORLD_H
#include "btDynamicsWorld.h"
class btDispatcher;
class btOverlappingPairCache;
class btConstraintSolver;
class btSimulationIslandManager;
class btTypedConstraint;
#include "../ConstraintSolver/btContactSolverInfo.h"
class btRaycastVehicle;
class btIDebugDraw;
#include "../../LinearMath/btAlignedObjectArray.h"
///btDiscreteDynamicsWorld provides discrete rigid body simulation
///those classes replace the obsolete CcdPhysicsEnvironment/CcdPhysicsController
class btDiscreteDynamicsWorld : public btDynamicsWorld
{
protected:
btConstraintSolver* m_constraintSolver;
btSimulationIslandManager* m_islandManager;
btAlignedObjectArray<btTypedConstraint*> m_constraints;
btIDebugDraw* m_debugDrawer;
btVector3 m_gravity;
//for variable timesteps
btScalar m_localTime;
//for variable timesteps
bool m_ownsIslandManager;
bool m_ownsConstraintSolver;
btContactSolverInfo m_solverInfo;
btAlignedObjectArray<btRaycastVehicle*> m_vehicles;
int m_profileTimings;
void predictUnconstraintMotion(btScalar timeStep);
void integrateTransforms(btScalar timeStep);
void calculateSimulationIslands();
void solveConstraints(btContactSolverInfo& solverInfo);
void updateActivationState(btScalar timeStep);
void updateVehicles(btScalar timeStep);
void startProfiling(btScalar timeStep);
virtual void internalSingleStepSimulation( btScalar timeStep);
void synchronizeMotionStates();
void saveKinematicState(btScalar timeStep);
void debugDrawSphere(btScalar radius, const btTransform& transform, const btVector3& color);
public:
///this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those
btDiscreteDynamicsWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache,btConstraintSolver* constraintSolver);
virtual ~btDiscreteDynamicsWorld();
///if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's
virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.));
virtual void updateAabbs();
void addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false);
void removeConstraint(btTypedConstraint* constraint);
void addVehicle(btRaycastVehicle* vehicle);
void removeVehicle(btRaycastVehicle* vehicle);
btSimulationIslandManager* getSimulationIslandManager()
{
return m_islandManager;
}
const btSimulationIslandManager* getSimulationIslandManager() const
{
return m_islandManager;
}
btCollisionWorld* getCollisionWorld()
{
return this;
}
virtual void setDebugDrawer(btIDebugDraw* debugDrawer)
{
m_debugDrawer = debugDrawer;
}
virtual btIDebugDraw* getDebugDrawer()
{
return m_debugDrawer;
}
virtual void setGravity(const btVector3& gravity);
virtual void addRigidBody(btRigidBody* body);
virtual void removeRigidBody(btRigidBody* body);
void debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color);
virtual void setConstraintSolver(btConstraintSolver* solver);
virtual int getNumConstraints() const;
virtual btTypedConstraint* getConstraint(int index) ;
virtual const btTypedConstraint* getConstraint(int index) const;
btContactSolverInfo& getSolverInfo()
{
return m_solverInfo;
}
};
#endif //BT_DISCRETE_DYNAMICS_WORLD_H

34
src/BulletDynamics/Dynamics/btRigidBody.cpp
View File

@ -16,8 +16,9 @@ subject to the following restrictions:
#include "btRigidBody.h"
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#include "LinearMath/btMinMax.h"
#include <LinearMath/btTransformUtil.h>
#include <LinearMath/btMotionState.h>
#include "LinearMath/btTransformUtil.h"
#include "LinearMath/btMotionState.h"
#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
btScalar gLinearAirDamping = btScalar(1.);
//'temporarily' global variables
@ -305,4 +306,33 @@ void btRigidBody::setCenterOfMassTransform(const btTransform& xform)
}
bool btRigidBody::checkCollideWithOverride(btCollisionObject* co)
{
btRigidBody* otherRb = btRigidBody::upcast(co);
if (!otherRb)
return true;
for (int i = 0; i < m_constraintRefs.size(); ++i)
{
btTypedConstraint* c = m_constraintRefs[i];
if (&c->getRigidBodyA() == otherRb || &c->getRigidBodyB() == otherRb)
return false;
}
return true;
}
void btRigidBody::addConstraintRef(btTypedConstraint* c)
{
int index = m_constraintRefs.findLinearSearch(c);
if (index == m_constraintRefs.size())
m_constraintRefs.push_back(c);
m_checkCollideWith = true;
}
void btRigidBody::removeConstraintRef(btTypedConstraint* c)
{
m_constraintRefs.remove(c);
m_checkCollideWith = m_constraintRefs.size() > 0;
}

11
src/BulletDynamics/Dynamics/btRigidBody.h
View File

@ -16,6 +16,7 @@ subject to the following restrictions:
#ifndef RIGIDBODY_H
#define RIGIDBODY_H
#include "../../LinearMath/btAlignedObjectArray.h"
#include "../../LinearMath/btPoint3.h"
#include "../../LinearMath/btTransform.h"
#include "../../BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
@ -23,7 +24,7 @@ subject to the following restrictions:
class btCollisionShape;
class btMotionState;
class btTypedConstraint;
extern btScalar gLinearAirDamping;
@ -57,6 +58,9 @@ class btRigidBody : public btCollisionObject
//m_optionalMotionState allows to automatic synchronize the world transform for active objects
btMotionState* m_optionalMotionState;
//keep track of typed constraints referencing this rigid body
btAlignedObjectArray<btTypedConstraint*> m_constraintRefs;
public:
#ifdef OBSOLETE_MOTIONSTATE_LESS
@ -339,6 +343,11 @@ public:
return (getBroadphaseProxy() != 0);
}
virtual bool checkCollideWithOverride(btCollisionObject* co);
void addConstraintRef(btTypedConstraint* c);
void removeConstraintRef(btTypedConstraint* c);
int m_debugBodyId;
};