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GEEKING
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watrabi
@@ -0,0 +1,405 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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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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||||
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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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/*
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Draft high-level generic physics C-API. For low-level access, use the physics SDK native API's.
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Work in progress, functionality will be added on demand.
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If possible, use the richer Bullet C++ API, by including <src/btBulletDynamicsCommon.h>
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*/
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#include "Bullet-C-Api.h"
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#include "btBulletDynamicsCommon.h"
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#include "LinearMath/btAlignedAllocator.h"
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#include "LinearMath/btVector3.h"
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#include "LinearMath/btScalar.h"
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#include "LinearMath/btMatrix3x3.h"
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#include "LinearMath/btTransform.h"
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#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
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#include "BulletCollision/CollisionShapes/btTriangleShape.h"
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#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
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#include "BulletCollision/NarrowPhaseCollision/btPointCollector.h"
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#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
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#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
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#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
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#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
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#include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h"
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#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
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#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
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#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
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/*
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Create and Delete a Physics SDK
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*/
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struct btPhysicsSdk
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{
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// btDispatcher* m_dispatcher;
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// btOverlappingPairCache* m_pairCache;
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// btConstraintSolver* m_constraintSolver
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btVector3 m_worldAabbMin;
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btVector3 m_worldAabbMax;
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//todo: version, hardware/optimization settings etc?
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btPhysicsSdk()
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:m_worldAabbMin(-1000,-1000,-1000),
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m_worldAabbMax(1000,1000,1000)
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{
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}
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};
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plPhysicsSdkHandle plNewBulletSdk()
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{
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void* mem = btAlignedAlloc(sizeof(btPhysicsSdk),16);
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return (plPhysicsSdkHandle)new (mem)btPhysicsSdk;
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}
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void plDeletePhysicsSdk(plPhysicsSdkHandle physicsSdk)
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{
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btPhysicsSdk* phys = reinterpret_cast<btPhysicsSdk*>(physicsSdk);
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btAlignedFree(phys);
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}
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/* Dynamics World */
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plDynamicsWorldHandle plCreateDynamicsWorld(plPhysicsSdkHandle physicsSdkHandle)
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{
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btPhysicsSdk* physicsSdk = reinterpret_cast<btPhysicsSdk*>(physicsSdkHandle);
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void* mem = btAlignedAlloc(sizeof(btDefaultCollisionConfiguration),16);
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btDefaultCollisionConfiguration* collisionConfiguration = new (mem)btDefaultCollisionConfiguration();
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mem = btAlignedAlloc(sizeof(btCollisionDispatcher),16);
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btDispatcher* dispatcher = new (mem)btCollisionDispatcher(collisionConfiguration);
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mem = btAlignedAlloc(sizeof(btAxisSweep3),16);
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btBroadphaseInterface* pairCache = new (mem)btAxisSweep3(physicsSdk->m_worldAabbMin,physicsSdk->m_worldAabbMax);
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mem = btAlignedAlloc(sizeof(btSequentialImpulseConstraintSolver),16);
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btConstraintSolver* constraintSolver = new(mem) btSequentialImpulseConstraintSolver();
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mem = btAlignedAlloc(sizeof(btDiscreteDynamicsWorld),16);
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return (plDynamicsWorldHandle) new (mem)btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration);
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}
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void plDeleteDynamicsWorld(plDynamicsWorldHandle world)
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{
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//todo: also clean up the other allocations, axisSweep, pairCache,dispatcher,constraintSolver,collisionConfiguration
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btDynamicsWorld* dynamicsWorld = reinterpret_cast< btDynamicsWorld* >(world);
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btAlignedFree(dynamicsWorld);
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}
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void plStepSimulation(plDynamicsWorldHandle world, plReal timeStep)
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{
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btDynamicsWorld* dynamicsWorld = reinterpret_cast< btDynamicsWorld* >(world);
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btAssert(dynamicsWorld);
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dynamicsWorld->stepSimulation(timeStep);
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}
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void plAddRigidBody(plDynamicsWorldHandle world, plRigidBodyHandle object)
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{
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btDynamicsWorld* dynamicsWorld = reinterpret_cast< btDynamicsWorld* >(world);
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btAssert(dynamicsWorld);
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btRigidBody* body = reinterpret_cast< btRigidBody* >(object);
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btAssert(body);
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dynamicsWorld->addRigidBody(body);
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}
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void plRemoveRigidBody(plDynamicsWorldHandle world, plRigidBodyHandle object)
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{
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btDynamicsWorld* dynamicsWorld = reinterpret_cast< btDynamicsWorld* >(world);
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btAssert(dynamicsWorld);
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btRigidBody* body = reinterpret_cast< btRigidBody* >(object);
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btAssert(body);
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dynamicsWorld->removeRigidBody(body);
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}
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/* Rigid Body */
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plRigidBodyHandle plCreateRigidBody( void* user_data, float mass, plCollisionShapeHandle cshape )
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{
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btTransform trans;
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trans.setIdentity();
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btVector3 localInertia(0,0,0);
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btCollisionShape* shape = reinterpret_cast<btCollisionShape*>( cshape);
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btAssert(shape);
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if (mass)
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{
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shape->calculateLocalInertia(mass,localInertia);
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}
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void* mem = btAlignedAlloc(sizeof(btRigidBody),16);
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btRigidBody::btRigidBodyConstructionInfo rbci(mass, 0,shape,localInertia);
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btRigidBody* body = new (mem)btRigidBody(rbci);
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body->setWorldTransform(trans);
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body->setUserPointer(user_data);
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return (plRigidBodyHandle) body;
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}
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void plDeleteRigidBody(plRigidBodyHandle cbody)
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{
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btRigidBody* body = reinterpret_cast< btRigidBody* >(cbody);
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btAssert(body);
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btAlignedFree( body);
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}
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/* Collision Shape definition */
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plCollisionShapeHandle plNewSphereShape(plReal radius)
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{
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void* mem = btAlignedAlloc(sizeof(btSphereShape),16);
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return (plCollisionShapeHandle) new (mem)btSphereShape(radius);
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}
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plCollisionShapeHandle plNewBoxShape(plReal x, plReal y, plReal z)
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{
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void* mem = btAlignedAlloc(sizeof(btBoxShape),16);
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return (plCollisionShapeHandle) new (mem)btBoxShape(btVector3(x,y,z));
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}
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plCollisionShapeHandle plNewCapsuleShape(plReal radius, plReal height)
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{
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//capsule is convex hull of 2 spheres, so use btMultiSphereShape
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const int numSpheres = 2;
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btVector3 positions[numSpheres] = {btVector3(0,height,0),btVector3(0,-height,0)};
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btScalar radi[numSpheres] = {radius,radius};
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void* mem = btAlignedAlloc(sizeof(btMultiSphereShape),16);
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return (plCollisionShapeHandle) new (mem)btMultiSphereShape(positions,radi,numSpheres);
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}
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plCollisionShapeHandle plNewConeShape(plReal radius, plReal height)
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{
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void* mem = btAlignedAlloc(sizeof(btConeShape),16);
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return (plCollisionShapeHandle) new (mem)btConeShape(radius,height);
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}
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plCollisionShapeHandle plNewCylinderShape(plReal radius, plReal height)
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{
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void* mem = btAlignedAlloc(sizeof(btCylinderShape),16);
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return (plCollisionShapeHandle) new (mem)btCylinderShape(btVector3(radius,height,radius));
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}
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/* Convex Meshes */
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plCollisionShapeHandle plNewConvexHullShape()
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{
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void* mem = btAlignedAlloc(sizeof(btConvexHullShape),16);
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return (plCollisionShapeHandle) new (mem)btConvexHullShape();
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}
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/* Concave static triangle meshes */
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plMeshInterfaceHandle plNewMeshInterface()
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{
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return 0;
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}
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plCollisionShapeHandle plNewCompoundShape()
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{
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void* mem = btAlignedAlloc(sizeof(btCompoundShape),16);
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return (plCollisionShapeHandle) new (mem)btCompoundShape();
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}
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void plAddChildShape(plCollisionShapeHandle compoundShapeHandle,plCollisionShapeHandle childShapeHandle, plVector3 childPos,plQuaternion childOrn)
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{
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btCollisionShape* colShape = reinterpret_cast<btCollisionShape*>(compoundShapeHandle);
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btAssert(colShape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE);
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btCompoundShape* compoundShape = reinterpret_cast<btCompoundShape*>(colShape);
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btCollisionShape* childShape = reinterpret_cast<btCollisionShape*>(childShapeHandle);
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btTransform localTrans;
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localTrans.setIdentity();
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localTrans.setOrigin(btVector3(childPos[0],childPos[1],childPos[2]));
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localTrans.setRotation(btQuaternion(childOrn[0],childOrn[1],childOrn[2],childOrn[3]));
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compoundShape->addChildShape(localTrans,childShape);
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}
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void plSetEuler(plReal yaw,plReal pitch,plReal roll, plQuaternion orient)
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{
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btQuaternion orn;
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orn.setEuler(yaw,pitch,roll);
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orient[0] = orn.getX();
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orient[1] = orn.getY();
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orient[2] = orn.getZ();
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orient[3] = orn.getW();
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}
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// extern void plAddTriangle(plMeshInterfaceHandle meshHandle, plVector3 v0,plVector3 v1,plVector3 v2);
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// extern plCollisionShapeHandle plNewStaticTriangleMeshShape(plMeshInterfaceHandle);
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void plAddVertex(plCollisionShapeHandle cshape, plReal x,plReal y,plReal z)
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{
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btCollisionShape* colShape = reinterpret_cast<btCollisionShape*>( cshape);
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(void)colShape;
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btAssert(colShape->getShapeType()==CONVEX_HULL_SHAPE_PROXYTYPE);
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btConvexHullShape* convexHullShape = reinterpret_cast<btConvexHullShape*>( cshape);
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convexHullShape->addPoint(btVector3(x,y,z));
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}
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void plDeleteShape(plCollisionShapeHandle cshape)
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{
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btCollisionShape* shape = reinterpret_cast<btCollisionShape*>( cshape);
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btAssert(shape);
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btAlignedFree(shape);
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}
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void plSetScaling(plCollisionShapeHandle cshape, plVector3 cscaling)
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{
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btCollisionShape* shape = reinterpret_cast<btCollisionShape*>( cshape);
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btAssert(shape);
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btVector3 scaling(cscaling[0],cscaling[1],cscaling[2]);
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shape->setLocalScaling(scaling);
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}
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void plSetPosition(plRigidBodyHandle object, const plVector3 position)
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{
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btRigidBody* body = reinterpret_cast< btRigidBody* >(object);
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btAssert(body);
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btVector3 pos(position[0],position[1],position[2]);
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btTransform worldTrans = body->getWorldTransform();
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worldTrans.setOrigin(pos);
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body->setWorldTransform(worldTrans);
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}
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void plSetOrientation(plRigidBodyHandle object, const plQuaternion orientation)
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{
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btRigidBody* body = reinterpret_cast< btRigidBody* >(object);
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btAssert(body);
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btQuaternion orn(orientation[0],orientation[1],orientation[2],orientation[3]);
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btTransform worldTrans = body->getWorldTransform();
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worldTrans.setRotation(orn);
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body->setWorldTransform(worldTrans);
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}
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void plSetOpenGLMatrix(plRigidBodyHandle object, plReal* matrix)
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{
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btRigidBody* body = reinterpret_cast< btRigidBody* >(object);
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btAssert(body);
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btTransform& worldTrans = body->getWorldTransform();
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worldTrans.setFromOpenGLMatrix(matrix);
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}
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void plGetOpenGLMatrix(plRigidBodyHandle object, plReal* matrix)
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{
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btRigidBody* body = reinterpret_cast< btRigidBody* >(object);
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btAssert(body);
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body->getWorldTransform().getOpenGLMatrix(matrix);
|
||||
|
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}
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void plGetPosition(plRigidBodyHandle object,plVector3 position)
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{
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btRigidBody* body = reinterpret_cast< btRigidBody* >(object);
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btAssert(body);
|
||||
const btVector3& pos = body->getWorldTransform().getOrigin();
|
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position[0] = pos.getX();
|
||||
position[1] = pos.getY();
|
||||
position[2] = pos.getZ();
|
||||
}
|
||||
|
||||
void plGetOrientation(plRigidBodyHandle object,plQuaternion orientation)
|
||||
{
|
||||
btRigidBody* body = reinterpret_cast< btRigidBody* >(object);
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btAssert(body);
|
||||
const btQuaternion& orn = body->getWorldTransform().getRotation();
|
||||
orientation[0] = orn.getX();
|
||||
orientation[1] = orn.getY();
|
||||
orientation[2] = orn.getZ();
|
||||
orientation[3] = orn.getW();
|
||||
}
|
||||
|
||||
|
||||
|
||||
//plRigidBodyHandle plRayCast(plDynamicsWorldHandle world, const plVector3 rayStart, const plVector3 rayEnd, plVector3 hitpoint, plVector3 normal);
|
||||
|
||||
// extern plRigidBodyHandle plObjectCast(plDynamicsWorldHandle world, const plVector3 rayStart, const plVector3 rayEnd, plVector3 hitpoint, plVector3 normal);
|
||||
|
||||
double plNearestPoints(float p1[3], float p2[3], float p3[3], float q1[3], float q2[3], float q3[3], float *pa, float *pb, float normal[3])
|
||||
{
|
||||
btVector3 vp(p1[0], p1[1], p1[2]);
|
||||
btTriangleShape trishapeA(vp,
|
||||
btVector3(p2[0], p2[1], p2[2]),
|
||||
btVector3(p3[0], p3[1], p3[2]));
|
||||
trishapeA.setMargin(0.000001f);
|
||||
btVector3 vq(q1[0], q1[1], q1[2]);
|
||||
btTriangleShape trishapeB(vq,
|
||||
btVector3(q2[0], q2[1], q2[2]),
|
||||
btVector3(q3[0], q3[1], q3[2]));
|
||||
trishapeB.setMargin(0.000001f);
|
||||
|
||||
// btVoronoiSimplexSolver sGjkSimplexSolver;
|
||||
// btGjkEpaPenetrationDepthSolver penSolverPtr;
|
||||
|
||||
static btSimplexSolverInterface sGjkSimplexSolver;
|
||||
sGjkSimplexSolver.reset();
|
||||
|
||||
static btGjkEpaPenetrationDepthSolver Solver0;
|
||||
static btMinkowskiPenetrationDepthSolver Solver1;
|
||||
|
||||
btConvexPenetrationDepthSolver* Solver = NULL;
|
||||
|
||||
Solver = &Solver1;
|
||||
|
||||
btGjkPairDetector convexConvex(&trishapeA ,&trishapeB,&sGjkSimplexSolver,Solver);
|
||||
|
||||
convexConvex.m_catchDegeneracies = 1;
|
||||
|
||||
// btGjkPairDetector convexConvex(&trishapeA ,&trishapeB,&sGjkSimplexSolver,0);
|
||||
|
||||
btPointCollector gjkOutput;
|
||||
btGjkPairDetector::ClosestPointInput input;
|
||||
|
||||
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
|
||||
input.m_transformA = tr;
|
||||
input.m_transformB = tr;
|
||||
|
||||
convexConvex.getClosestPoints(input, gjkOutput, 0);
|
||||
|
||||
|
||||
if (gjkOutput.m_hasResult)
|
||||
{
|
||||
|
||||
pb[0] = pa[0] = gjkOutput.m_pointInWorld[0];
|
||||
pb[1] = pa[1] = gjkOutput.m_pointInWorld[1];
|
||||
pb[2] = pa[2] = gjkOutput.m_pointInWorld[2];
|
||||
|
||||
pb[0]+= gjkOutput.m_normalOnBInWorld[0] * gjkOutput.m_distance;
|
||||
pb[1]+= gjkOutput.m_normalOnBInWorld[1] * gjkOutput.m_distance;
|
||||
pb[2]+= gjkOutput.m_normalOnBInWorld[2] * gjkOutput.m_distance;
|
||||
|
||||
normal[0] = gjkOutput.m_normalOnBInWorld[0];
|
||||
normal[1] = gjkOutput.m_normalOnBInWorld[1];
|
||||
normal[2] = gjkOutput.m_normalOnBInWorld[2];
|
||||
|
||||
return gjkOutput.m_distance;
|
||||
}
|
||||
return -1.0f;
|
||||
}
|
||||
|
||||
@@ -0,0 +1,46 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#ifndef _BT_ACTION_INTERFACE_H
|
||||
#define _BT_ACTION_INTERFACE_H
|
||||
|
||||
class btIDebugDraw;
|
||||
class btCollisionWorld;
|
||||
|
||||
#include "LinearMath/btScalar.h"
|
||||
#include "btRigidBody.h"
|
||||
|
||||
///Basic interface to allow actions such as vehicles and characters to be updated inside a btDynamicsWorld
|
||||
class btActionInterface
|
||||
{
|
||||
protected:
|
||||
|
||||
static btRigidBody& getFixedBody();
|
||||
|
||||
|
||||
public:
|
||||
|
||||
virtual ~btActionInterface()
|
||||
{
|
||||
}
|
||||
|
||||
virtual void updateAction( btCollisionWorld* collisionWorld, btScalar deltaTimeStep)=0;
|
||||
|
||||
virtual void debugDraw(btIDebugDraw* debugDrawer) = 0;
|
||||
|
||||
};
|
||||
|
||||
#endif //_BT_ACTION_INTERFACE_H
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,234 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
|
||||
|
||||
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;
|
||||
class btActionInterface;
|
||||
class btPersistentManifold;
|
||||
class btIDebugDraw;
|
||||
struct InplaceSolverIslandCallback;
|
||||
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
|
||||
|
||||
///btDiscreteDynamicsWorld provides discrete rigid body simulation
|
||||
///those classes replace the obsolete CcdPhysicsEnvironment/CcdPhysicsController
|
||||
ATTRIBUTE_ALIGNED16(class) btDiscreteDynamicsWorld : public btDynamicsWorld
|
||||
{
|
||||
protected:
|
||||
|
||||
btAlignedObjectArray<btTypedConstraint*> m_sortedConstraints;
|
||||
InplaceSolverIslandCallback* m_solverIslandCallback;
|
||||
|
||||
btConstraintSolver* m_constraintSolver;
|
||||
|
||||
btSimulationIslandManager* m_islandManager;
|
||||
|
||||
btAlignedObjectArray<btTypedConstraint*> m_constraints;
|
||||
|
||||
btAlignedObjectArray<btRigidBody*> m_nonStaticRigidBodies;
|
||||
|
||||
btVector3 m_gravity;
|
||||
|
||||
//for variable timesteps
|
||||
btScalar m_localTime;
|
||||
btScalar m_fixedTimeStep;
|
||||
//for variable timesteps
|
||||
|
||||
bool m_ownsIslandManager;
|
||||
bool m_ownsConstraintSolver;
|
||||
bool m_synchronizeAllMotionStates;
|
||||
bool m_applySpeculativeContactRestitution;
|
||||
|
||||
btAlignedObjectArray<btActionInterface*> m_actions;
|
||||
|
||||
int m_profileTimings;
|
||||
|
||||
bool m_latencyMotionStateInterpolation;
|
||||
|
||||
btAlignedObjectArray<btPersistentManifold*> m_predictiveManifolds;
|
||||
|
||||
virtual void predictUnconstraintMotion(btScalar timeStep);
|
||||
|
||||
virtual void integrateTransforms(btScalar timeStep);
|
||||
|
||||
virtual void calculateSimulationIslands();
|
||||
|
||||
virtual void solveConstraints(btContactSolverInfo& solverInfo);
|
||||
|
||||
virtual void updateActivationState(btScalar timeStep);
|
||||
|
||||
void updateActions(btScalar timeStep);
|
||||
|
||||
void startProfiling(btScalar timeStep);
|
||||
|
||||
virtual void internalSingleStepSimulation( btScalar timeStep);
|
||||
|
||||
void createPredictiveContacts(btScalar timeStep);
|
||||
|
||||
virtual void saveKinematicState(btScalar timeStep);
|
||||
|
||||
void serializeRigidBodies(btSerializer* serializer);
|
||||
|
||||
void serializeDynamicsWorldInfo(btSerializer* serializer);
|
||||
|
||||
public:
|
||||
|
||||
|
||||
BT_DECLARE_ALIGNED_ALLOCATOR();
|
||||
|
||||
///this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those
|
||||
btDiscreteDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
|
||||
|
||||
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 synchronizeMotionStates();
|
||||
|
||||
///this can be useful to synchronize a single rigid body -> graphics object
|
||||
void synchronizeSingleMotionState(btRigidBody* body);
|
||||
|
||||
virtual void addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false);
|
||||
|
||||
virtual void removeConstraint(btTypedConstraint* constraint);
|
||||
|
||||
virtual void addAction(btActionInterface*);
|
||||
|
||||
virtual void removeAction(btActionInterface*);
|
||||
|
||||
btSimulationIslandManager* getSimulationIslandManager()
|
||||
{
|
||||
return m_islandManager;
|
||||
}
|
||||
|
||||
const btSimulationIslandManager* getSimulationIslandManager() const
|
||||
{
|
||||
return m_islandManager;
|
||||
}
|
||||
|
||||
btCollisionWorld* getCollisionWorld()
|
||||
{
|
||||
return this;
|
||||
}
|
||||
|
||||
virtual void setGravity(const btVector3& gravity);
|
||||
|
||||
virtual btVector3 getGravity () const;
|
||||
|
||||
virtual void addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup=btBroadphaseProxy::StaticFilter,short int collisionFilterMask=btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
|
||||
|
||||
virtual void addRigidBody(btRigidBody* body);
|
||||
|
||||
virtual void addRigidBody(btRigidBody* body, short group, short mask);
|
||||
|
||||
virtual void removeRigidBody(btRigidBody* body);
|
||||
|
||||
///removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btCollisionWorld::removeCollisionObject
|
||||
virtual void removeCollisionObject(btCollisionObject* collisionObject);
|
||||
|
||||
|
||||
void debugDrawConstraint(btTypedConstraint* constraint);
|
||||
|
||||
virtual void debugDrawWorld();
|
||||
|
||||
virtual void setConstraintSolver(btConstraintSolver* solver);
|
||||
|
||||
virtual btConstraintSolver* getConstraintSolver();
|
||||
|
||||
virtual int getNumConstraints() const;
|
||||
|
||||
virtual btTypedConstraint* getConstraint(int index) ;
|
||||
|
||||
virtual const btTypedConstraint* getConstraint(int index) const;
|
||||
|
||||
|
||||
virtual btDynamicsWorldType getWorldType() const
|
||||
{
|
||||
return BT_DISCRETE_DYNAMICS_WORLD;
|
||||
}
|
||||
|
||||
///the forces on each rigidbody is accumulating together with gravity. clear this after each timestep.
|
||||
virtual void clearForces();
|
||||
|
||||
///apply gravity, call this once per timestep
|
||||
virtual void applyGravity();
|
||||
|
||||
virtual void setNumTasks(int numTasks)
|
||||
{
|
||||
(void) numTasks;
|
||||
}
|
||||
|
||||
///obsolete, use updateActions instead
|
||||
virtual void updateVehicles(btScalar timeStep)
|
||||
{
|
||||
updateActions(timeStep);
|
||||
}
|
||||
|
||||
///obsolete, use addAction instead
|
||||
virtual void addVehicle(btActionInterface* vehicle);
|
||||
///obsolete, use removeAction instead
|
||||
virtual void removeVehicle(btActionInterface* vehicle);
|
||||
///obsolete, use addAction instead
|
||||
virtual void addCharacter(btActionInterface* character);
|
||||
///obsolete, use removeAction instead
|
||||
virtual void removeCharacter(btActionInterface* character);
|
||||
|
||||
void setSynchronizeAllMotionStates(bool synchronizeAll)
|
||||
{
|
||||
m_synchronizeAllMotionStates = synchronizeAll;
|
||||
}
|
||||
bool getSynchronizeAllMotionStates() const
|
||||
{
|
||||
return m_synchronizeAllMotionStates;
|
||||
}
|
||||
|
||||
void setApplySpeculativeContactRestitution(bool enable)
|
||||
{
|
||||
m_applySpeculativeContactRestitution = enable;
|
||||
}
|
||||
|
||||
bool getApplySpeculativeContactRestitution() const
|
||||
{
|
||||
return m_applySpeculativeContactRestitution;
|
||||
}
|
||||
|
||||
///Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (see Bullet/Demos/SerializeDemo)
|
||||
virtual void serialize(btSerializer* serializer);
|
||||
|
||||
///Interpolate motion state between previous and current transform, instead of current and next transform.
|
||||
///This can relieve discontinuities in the rendering, due to penetrations
|
||||
void setLatencyMotionStateInterpolation(bool latencyInterpolation )
|
||||
{
|
||||
m_latencyMotionStateInterpolation = latencyInterpolation;
|
||||
}
|
||||
bool getLatencyMotionStateInterpolation() const
|
||||
{
|
||||
return m_latencyMotionStateInterpolation;
|
||||
}
|
||||
};
|
||||
|
||||
#endif //BT_DISCRETE_DYNAMICS_WORLD_H
|
||||
@@ -0,0 +1,167 @@
|
||||
/*
|
||||
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_DYNAMICS_WORLD_H
|
||||
#define BT_DYNAMICS_WORLD_H
|
||||
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
|
||||
#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
|
||||
|
||||
class btTypedConstraint;
|
||||
class btActionInterface;
|
||||
class btConstraintSolver;
|
||||
class btDynamicsWorld;
|
||||
|
||||
|
||||
/// Type for the callback for each tick
|
||||
typedef void (*btInternalTickCallback)(btDynamicsWorld *world, btScalar timeStep);
|
||||
|
||||
enum btDynamicsWorldType
|
||||
{
|
||||
BT_SIMPLE_DYNAMICS_WORLD=1,
|
||||
BT_DISCRETE_DYNAMICS_WORLD=2,
|
||||
BT_CONTINUOUS_DYNAMICS_WORLD=3,
|
||||
BT_SOFT_RIGID_DYNAMICS_WORLD=4,
|
||||
BT_GPU_DYNAMICS_WORLD=5
|
||||
};
|
||||
|
||||
///The btDynamicsWorld is the interface class for several dynamics implementation, basic, discrete, parallel, and continuous etc.
|
||||
class btDynamicsWorld : public btCollisionWorld
|
||||
{
|
||||
|
||||
protected:
|
||||
btInternalTickCallback m_internalTickCallback;
|
||||
btInternalTickCallback m_internalPreTickCallback;
|
||||
void* m_worldUserInfo;
|
||||
|
||||
btContactSolverInfo m_solverInfo;
|
||||
|
||||
public:
|
||||
|
||||
|
||||
btDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* broadphase,btCollisionConfiguration* collisionConfiguration)
|
||||
:btCollisionWorld(dispatcher,broadphase,collisionConfiguration), m_internalTickCallback(0),m_internalPreTickCallback(0), m_worldUserInfo(0)
|
||||
{
|
||||
}
|
||||
|
||||
virtual ~btDynamicsWorld()
|
||||
{
|
||||
}
|
||||
|
||||
///stepSimulation proceeds the simulation over 'timeStep', units in preferably in seconds.
|
||||
///By default, Bullet will subdivide the timestep in constant substeps of each 'fixedTimeStep'.
|
||||
///in order to keep the simulation real-time, the maximum number of substeps can be clamped to 'maxSubSteps'.
|
||||
///You can disable subdividing the timestep/substepping by passing maxSubSteps=0 as second argument to stepSimulation, but in that case you have to keep the timeStep constant.
|
||||
virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))=0;
|
||||
|
||||
virtual void debugDrawWorld() = 0;
|
||||
|
||||
virtual void addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false)
|
||||
{
|
||||
(void)constraint; (void)disableCollisionsBetweenLinkedBodies;
|
||||
}
|
||||
|
||||
virtual void removeConstraint(btTypedConstraint* constraint) {(void)constraint;}
|
||||
|
||||
virtual void addAction(btActionInterface* action) = 0;
|
||||
|
||||
virtual void removeAction(btActionInterface* action) = 0;
|
||||
|
||||
//once a rigidbody is added to the dynamics world, it will get this gravity assigned
|
||||
//existing rigidbodies in the world get gravity assigned too, during this method
|
||||
virtual void setGravity(const btVector3& gravity) = 0;
|
||||
virtual btVector3 getGravity () const = 0;
|
||||
|
||||
virtual void synchronizeMotionStates() = 0;
|
||||
|
||||
virtual void addRigidBody(btRigidBody* body) = 0;
|
||||
|
||||
virtual void addRigidBody(btRigidBody* body, short group, short mask) = 0;
|
||||
|
||||
virtual void removeRigidBody(btRigidBody* body) = 0;
|
||||
|
||||
virtual void setConstraintSolver(btConstraintSolver* solver) = 0;
|
||||
|
||||
virtual btConstraintSolver* getConstraintSolver() = 0;
|
||||
|
||||
virtual int getNumConstraints() const { return 0; }
|
||||
|
||||
virtual btTypedConstraint* getConstraint(int index) { (void)index; return 0; }
|
||||
|
||||
virtual const btTypedConstraint* getConstraint(int index) const { (void)index; return 0; }
|
||||
|
||||
virtual btDynamicsWorldType getWorldType() const=0;
|
||||
|
||||
virtual void clearForces() = 0;
|
||||
|
||||
/// Set the callback for when an internal tick (simulation substep) happens, optional user info
|
||||
void setInternalTickCallback(btInternalTickCallback cb, void* worldUserInfo=0,bool isPreTick=false)
|
||||
{
|
||||
if (isPreTick)
|
||||
{
|
||||
m_internalPreTickCallback = cb;
|
||||
} else
|
||||
{
|
||||
m_internalTickCallback = cb;
|
||||
}
|
||||
m_worldUserInfo = worldUserInfo;
|
||||
}
|
||||
|
||||
void setWorldUserInfo(void* worldUserInfo)
|
||||
{
|
||||
m_worldUserInfo = worldUserInfo;
|
||||
}
|
||||
|
||||
void* getWorldUserInfo() const
|
||||
{
|
||||
return m_worldUserInfo;
|
||||
}
|
||||
|
||||
btContactSolverInfo& getSolverInfo()
|
||||
{
|
||||
return m_solverInfo;
|
||||
}
|
||||
|
||||
|
||||
///obsolete, use addAction instead.
|
||||
virtual void addVehicle(btActionInterface* vehicle) {(void)vehicle;}
|
||||
///obsolete, use removeAction instead
|
||||
virtual void removeVehicle(btActionInterface* vehicle) {(void)vehicle;}
|
||||
///obsolete, use addAction instead.
|
||||
virtual void addCharacter(btActionInterface* character) {(void)character;}
|
||||
///obsolete, use removeAction instead
|
||||
virtual void removeCharacter(btActionInterface* character) {(void)character;}
|
||||
|
||||
|
||||
};
|
||||
|
||||
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
|
||||
struct btDynamicsWorldDoubleData
|
||||
{
|
||||
btContactSolverInfoDoubleData m_solverInfo;
|
||||
btVector3DoubleData m_gravity;
|
||||
};
|
||||
|
||||
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
|
||||
struct btDynamicsWorldFloatData
|
||||
{
|
||||
btContactSolverInfoFloatData m_solverInfo;
|
||||
btVector3FloatData m_gravity;
|
||||
};
|
||||
|
||||
|
||||
#endif //BT_DYNAMICS_WORLD_H
|
||||
|
||||
|
||||
@@ -0,0 +1,400 @@
|
||||
/*
|
||||
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.
|
||||
*/
|
||||
|
||||
#include "btRigidBody.h"
|
||||
#include "BulletCollision/CollisionShapes/btConvexShape.h"
|
||||
#include "LinearMath/btMinMax.h"
|
||||
#include "LinearMath/btTransformUtil.h"
|
||||
#include "LinearMath/btMotionState.h"
|
||||
#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
|
||||
#include "LinearMath/btSerializer.h"
|
||||
|
||||
//'temporarily' global variables
|
||||
btScalar gDeactivationTime = btScalar(2.);
|
||||
bool gDisableDeactivation = false;
|
||||
static int uniqueId = 0;
|
||||
|
||||
|
||||
btRigidBody::btRigidBody(const btRigidBody::btRigidBodyConstructionInfo& constructionInfo)
|
||||
{
|
||||
setupRigidBody(constructionInfo);
|
||||
}
|
||||
|
||||
btRigidBody::btRigidBody(btScalar mass, btMotionState *motionState, btCollisionShape *collisionShape, const btVector3 &localInertia)
|
||||
{
|
||||
btRigidBodyConstructionInfo cinfo(mass,motionState,collisionShape,localInertia);
|
||||
setupRigidBody(cinfo);
|
||||
}
|
||||
|
||||
void btRigidBody::setupRigidBody(const btRigidBody::btRigidBodyConstructionInfo& constructionInfo)
|
||||
{
|
||||
|
||||
m_internalType=CO_RIGID_BODY;
|
||||
|
||||
m_linearVelocity.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
|
||||
m_angularVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
|
||||
m_angularFactor.setValue(1,1,1);
|
||||
m_linearFactor.setValue(1,1,1);
|
||||
m_gravity.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
|
||||
m_gravity_acceleration.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
|
||||
m_totalForce.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
|
||||
m_totalTorque.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
|
||||
setDamping(constructionInfo.m_linearDamping, constructionInfo.m_angularDamping);
|
||||
|
||||
m_linearSleepingThreshold = constructionInfo.m_linearSleepingThreshold;
|
||||
m_angularSleepingThreshold = constructionInfo.m_angularSleepingThreshold;
|
||||
m_optionalMotionState = constructionInfo.m_motionState;
|
||||
m_contactSolverType = 0;
|
||||
m_frictionSolverType = 0;
|
||||
m_additionalDamping = constructionInfo.m_additionalDamping;
|
||||
m_additionalDampingFactor = constructionInfo.m_additionalDampingFactor;
|
||||
m_additionalLinearDampingThresholdSqr = constructionInfo.m_additionalLinearDampingThresholdSqr;
|
||||
m_additionalAngularDampingThresholdSqr = constructionInfo.m_additionalAngularDampingThresholdSqr;
|
||||
m_additionalAngularDampingFactor = constructionInfo.m_additionalAngularDampingFactor;
|
||||
|
||||
if (m_optionalMotionState)
|
||||
{
|
||||
m_optionalMotionState->getWorldTransform(m_worldTransform);
|
||||
} else
|
||||
{
|
||||
m_worldTransform = constructionInfo.m_startWorldTransform;
|
||||
}
|
||||
|
||||
m_interpolationWorldTransform = m_worldTransform;
|
||||
m_interpolationLinearVelocity.setValue(0,0,0);
|
||||
m_interpolationAngularVelocity.setValue(0,0,0);
|
||||
|
||||
//moved to btCollisionObject
|
||||
m_friction = constructionInfo.m_friction;
|
||||
m_rollingFriction = constructionInfo.m_rollingFriction;
|
||||
m_restitution = constructionInfo.m_restitution;
|
||||
|
||||
setCollisionShape( constructionInfo.m_collisionShape );
|
||||
m_debugBodyId = uniqueId++;
|
||||
|
||||
setMassProps(constructionInfo.m_mass, constructionInfo.m_localInertia);
|
||||
updateInertiaTensor();
|
||||
|
||||
m_rigidbodyFlags = 0;
|
||||
|
||||
|
||||
m_deltaLinearVelocity.setZero();
|
||||
m_deltaAngularVelocity.setZero();
|
||||
m_invMass = m_inverseMass*m_linearFactor;
|
||||
m_pushVelocity.setZero();
|
||||
m_turnVelocity.setZero();
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
void btRigidBody::predictIntegratedTransform(btScalar timeStep,btTransform& predictedTransform)
|
||||
{
|
||||
btTransformUtil::integrateTransform(m_worldTransform,m_linearVelocity,m_angularVelocity,timeStep,predictedTransform);
|
||||
}
|
||||
|
||||
void btRigidBody::saveKinematicState(btScalar timeStep)
|
||||
{
|
||||
//todo: clamp to some (user definable) safe minimum timestep, to limit maximum angular/linear velocities
|
||||
if (timeStep != btScalar(0.))
|
||||
{
|
||||
//if we use motionstate to synchronize world transforms, get the new kinematic/animated world transform
|
||||
if (getMotionState())
|
||||
getMotionState()->getWorldTransform(m_worldTransform);
|
||||
btVector3 linVel,angVel;
|
||||
|
||||
btTransformUtil::calculateVelocity(m_interpolationWorldTransform,m_worldTransform,timeStep,m_linearVelocity,m_angularVelocity);
|
||||
m_interpolationLinearVelocity = m_linearVelocity;
|
||||
m_interpolationAngularVelocity = m_angularVelocity;
|
||||
m_interpolationWorldTransform = m_worldTransform;
|
||||
//printf("angular = %f %f %f\n",m_angularVelocity.getX(),m_angularVelocity.getY(),m_angularVelocity.getZ());
|
||||
}
|
||||
}
|
||||
|
||||
void btRigidBody::getAabb(btVector3& aabbMin,btVector3& aabbMax) const
|
||||
{
|
||||
getCollisionShape()->getAabb(m_worldTransform,aabbMin,aabbMax);
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
void btRigidBody::setGravity(const btVector3& acceleration)
|
||||
{
|
||||
if (m_inverseMass != btScalar(0.0))
|
||||
{
|
||||
m_gravity = acceleration * (btScalar(1.0) / m_inverseMass);
|
||||
}
|
||||
m_gravity_acceleration = acceleration;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
void btRigidBody::setDamping(btScalar lin_damping, btScalar ang_damping)
|
||||
{
|
||||
m_linearDamping = btClamped(lin_damping, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
|
||||
m_angularDamping = btClamped(ang_damping, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
///applyDamping damps the velocity, using the given m_linearDamping and m_angularDamping
|
||||
void btRigidBody::applyDamping(btScalar timeStep)
|
||||
{
|
||||
//On new damping: see discussion/issue report here: http://code.google.com/p/bullet/issues/detail?id=74
|
||||
//todo: do some performance comparisons (but other parts of the engine are probably bottleneck anyway
|
||||
|
||||
//#define USE_OLD_DAMPING_METHOD 1
|
||||
#ifdef USE_OLD_DAMPING_METHOD
|
||||
m_linearVelocity *= GEN_clamped((btScalar(1.) - timeStep * m_linearDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
|
||||
m_angularVelocity *= GEN_clamped((btScalar(1.) - timeStep * m_angularDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
|
||||
#else
|
||||
m_linearVelocity *= btPow(btScalar(1)-m_linearDamping, timeStep);
|
||||
m_angularVelocity *= btPow(btScalar(1)-m_angularDamping, timeStep);
|
||||
#endif
|
||||
|
||||
if (m_additionalDamping)
|
||||
{
|
||||
//Additional damping can help avoiding lowpass jitter motion, help stability for ragdolls etc.
|
||||
//Such damping is undesirable, so once the overall simulation quality of the rigid body dynamics system has improved, this should become obsolete
|
||||
if ((m_angularVelocity.length2() < m_additionalAngularDampingThresholdSqr) &&
|
||||
(m_linearVelocity.length2() < m_additionalLinearDampingThresholdSqr))
|
||||
{
|
||||
m_angularVelocity *= m_additionalDampingFactor;
|
||||
m_linearVelocity *= m_additionalDampingFactor;
|
||||
}
|
||||
|
||||
|
||||
btScalar speed = m_linearVelocity.length();
|
||||
if (speed < m_linearDamping)
|
||||
{
|
||||
btScalar dampVel = btScalar(0.005);
|
||||
if (speed > dampVel)
|
||||
{
|
||||
btVector3 dir = m_linearVelocity.normalized();
|
||||
m_linearVelocity -= dir * dampVel;
|
||||
} else
|
||||
{
|
||||
m_linearVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
|
||||
}
|
||||
}
|
||||
|
||||
btScalar angSpeed = m_angularVelocity.length();
|
||||
if (angSpeed < m_angularDamping)
|
||||
{
|
||||
btScalar angDampVel = btScalar(0.005);
|
||||
if (angSpeed > angDampVel)
|
||||
{
|
||||
btVector3 dir = m_angularVelocity.normalized();
|
||||
m_angularVelocity -= dir * angDampVel;
|
||||
} else
|
||||
{
|
||||
m_angularVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void btRigidBody::applyGravity()
|
||||
{
|
||||
if (isStaticOrKinematicObject())
|
||||
return;
|
||||
|
||||
applyCentralForce(m_gravity);
|
||||
|
||||
}
|
||||
|
||||
void btRigidBody::proceedToTransform(const btTransform& newTrans)
|
||||
{
|
||||
setCenterOfMassTransform( newTrans );
|
||||
}
|
||||
|
||||
|
||||
void btRigidBody::setMassProps(btScalar mass, const btVector3& inertia)
|
||||
{
|
||||
if (mass == btScalar(0.))
|
||||
{
|
||||
m_collisionFlags |= btCollisionObject::CF_STATIC_OBJECT;
|
||||
m_inverseMass = btScalar(0.);
|
||||
} else
|
||||
{
|
||||
m_collisionFlags &= (~btCollisionObject::CF_STATIC_OBJECT);
|
||||
m_inverseMass = btScalar(1.0) / mass;
|
||||
}
|
||||
|
||||
//Fg = m * a
|
||||
m_gravity = mass * m_gravity_acceleration;
|
||||
|
||||
m_invInertiaLocal.setValue(inertia.x() != btScalar(0.0) ? btScalar(1.0) / inertia.x(): btScalar(0.0),
|
||||
inertia.y() != btScalar(0.0) ? btScalar(1.0) / inertia.y(): btScalar(0.0),
|
||||
inertia.z() != btScalar(0.0) ? btScalar(1.0) / inertia.z(): btScalar(0.0));
|
||||
|
||||
m_invMass = m_linearFactor*m_inverseMass;
|
||||
}
|
||||
|
||||
|
||||
void btRigidBody::updateInertiaTensor()
|
||||
{
|
||||
m_invInertiaTensorWorld = m_worldTransform.getBasis().scaled(m_invInertiaLocal) * m_worldTransform.getBasis().transpose();
|
||||
}
|
||||
|
||||
|
||||
btVector3 btRigidBody::computeGyroscopicForce(btScalar maxGyroscopicForce) const
|
||||
{
|
||||
btVector3 inertiaLocal;
|
||||
inertiaLocal[0] = 1.f/getInvInertiaDiagLocal()[0];
|
||||
inertiaLocal[1] = 1.f/getInvInertiaDiagLocal()[1];
|
||||
inertiaLocal[2] = 1.f/getInvInertiaDiagLocal()[2];
|
||||
btMatrix3x3 inertiaTensorWorld = getWorldTransform().getBasis().scaled(inertiaLocal) * getWorldTransform().getBasis().transpose();
|
||||
btVector3 tmp = inertiaTensorWorld*getAngularVelocity();
|
||||
btVector3 gf = getAngularVelocity().cross(tmp);
|
||||
btScalar l2 = gf.length2();
|
||||
if (l2>maxGyroscopicForce*maxGyroscopicForce)
|
||||
{
|
||||
gf *= btScalar(1.)/btSqrt(l2)*maxGyroscopicForce;
|
||||
}
|
||||
return gf;
|
||||
}
|
||||
|
||||
void btRigidBody::integrateVelocities(btScalar step)
|
||||
{
|
||||
if (isStaticOrKinematicObject())
|
||||
return;
|
||||
|
||||
m_linearVelocity += m_totalForce * (m_inverseMass * step);
|
||||
m_angularVelocity += m_invInertiaTensorWorld * m_totalTorque * step;
|
||||
|
||||
#define MAX_ANGVEL SIMD_HALF_PI
|
||||
/// clamp angular velocity. collision calculations will fail on higher angular velocities
|
||||
btScalar angvel = m_angularVelocity.length();
|
||||
if (angvel*step > MAX_ANGVEL)
|
||||
{
|
||||
m_angularVelocity *= (MAX_ANGVEL/step) /angvel;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
btQuaternion btRigidBody::getOrientation() const
|
||||
{
|
||||
btQuaternion orn;
|
||||
m_worldTransform.getBasis().getRotation(orn);
|
||||
return orn;
|
||||
}
|
||||
|
||||
|
||||
void btRigidBody::setCenterOfMassTransform(const btTransform& xform)
|
||||
{
|
||||
|
||||
if (isKinematicObject())
|
||||
{
|
||||
m_interpolationWorldTransform = m_worldTransform;
|
||||
} else
|
||||
{
|
||||
m_interpolationWorldTransform = xform;
|
||||
}
|
||||
m_interpolationLinearVelocity = getLinearVelocity();
|
||||
m_interpolationAngularVelocity = getAngularVelocity();
|
||||
m_worldTransform = xform;
|
||||
updateInertiaTensor();
|
||||
}
|
||||
|
||||
|
||||
bool btRigidBody::checkCollideWithOverride(const btCollisionObject* co) const
|
||||
{
|
||||
const btRigidBody* otherRb = btRigidBody::upcast(co);
|
||||
if (!otherRb)
|
||||
return true;
|
||||
|
||||
for (int i = 0; i < m_constraintRefs.size(); ++i)
|
||||
{
|
||||
const btTypedConstraint* c = m_constraintRefs[i];
|
||||
if (c->isEnabled())
|
||||
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;
|
||||
}
|
||||
|
||||
int btRigidBody::calculateSerializeBufferSize() const
|
||||
{
|
||||
int sz = sizeof(btRigidBodyData);
|
||||
return sz;
|
||||
}
|
||||
|
||||
///fills the dataBuffer and returns the struct name (and 0 on failure)
|
||||
const char* btRigidBody::serialize(void* dataBuffer, class btSerializer* serializer) const
|
||||
{
|
||||
btRigidBodyData* rbd = (btRigidBodyData*) dataBuffer;
|
||||
|
||||
btCollisionObject::serialize(&rbd->m_collisionObjectData, serializer);
|
||||
|
||||
m_invInertiaTensorWorld.serialize(rbd->m_invInertiaTensorWorld);
|
||||
m_linearVelocity.serialize(rbd->m_linearVelocity);
|
||||
m_angularVelocity.serialize(rbd->m_angularVelocity);
|
||||
rbd->m_inverseMass = m_inverseMass;
|
||||
m_angularFactor.serialize(rbd->m_angularFactor);
|
||||
m_linearFactor.serialize(rbd->m_linearFactor);
|
||||
m_gravity.serialize(rbd->m_gravity);
|
||||
m_gravity_acceleration.serialize(rbd->m_gravity_acceleration);
|
||||
m_invInertiaLocal.serialize(rbd->m_invInertiaLocal);
|
||||
m_totalForce.serialize(rbd->m_totalForce);
|
||||
m_totalTorque.serialize(rbd->m_totalTorque);
|
||||
rbd->m_linearDamping = m_linearDamping;
|
||||
rbd->m_angularDamping = m_angularDamping;
|
||||
rbd->m_additionalDamping = m_additionalDamping;
|
||||
rbd->m_additionalDampingFactor = m_additionalDampingFactor;
|
||||
rbd->m_additionalLinearDampingThresholdSqr = m_additionalLinearDampingThresholdSqr;
|
||||
rbd->m_additionalAngularDampingThresholdSqr = m_additionalAngularDampingThresholdSqr;
|
||||
rbd->m_additionalAngularDampingFactor = m_additionalAngularDampingFactor;
|
||||
rbd->m_linearSleepingThreshold=m_linearSleepingThreshold;
|
||||
rbd->m_angularSleepingThreshold = m_angularSleepingThreshold;
|
||||
|
||||
return btRigidBodyDataName;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void btRigidBody::serializeSingleObject(class btSerializer* serializer) const
|
||||
{
|
||||
btChunk* chunk = serializer->allocate(calculateSerializeBufferSize(),1);
|
||||
const char* structType = serialize(chunk->m_oldPtr, serializer);
|
||||
serializer->finalizeChunk(chunk,structType,BT_RIGIDBODY_CODE,(void*)this);
|
||||
}
|
||||
|
||||
|
||||
@@ -0,0 +1,604 @@
|
||||
/*
|
||||
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_RIGIDBODY_H
|
||||
#define BT_RIGIDBODY_H
|
||||
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
#include "LinearMath/btTransform.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
|
||||
|
||||
class btCollisionShape;
|
||||
class btMotionState;
|
||||
class btTypedConstraint;
|
||||
|
||||
|
||||
extern btScalar gDeactivationTime;
|
||||
extern bool gDisableDeactivation;
|
||||
|
||||
#ifdef BT_USE_DOUBLE_PRECISION
|
||||
#define btRigidBodyData btRigidBodyDoubleData
|
||||
#define btRigidBodyDataName "btRigidBodyDoubleData"
|
||||
#else
|
||||
#define btRigidBodyData btRigidBodyFloatData
|
||||
#define btRigidBodyDataName "btRigidBodyFloatData"
|
||||
#endif //BT_USE_DOUBLE_PRECISION
|
||||
|
||||
|
||||
enum btRigidBodyFlags
|
||||
{
|
||||
BT_DISABLE_WORLD_GRAVITY = 1,
|
||||
///The BT_ENABLE_GYROPSCOPIC_FORCE can easily introduce instability
|
||||
///So generally it is best to not enable it.
|
||||
///If really needed, run at a high frequency like 1000 Hertz: ///See Demos/GyroscopicDemo for an example use
|
||||
BT_ENABLE_GYROPSCOPIC_FORCE = 2
|
||||
};
|
||||
|
||||
|
||||
///The btRigidBody is the main class for rigid body objects. It is derived from btCollisionObject, so it keeps a pointer to a btCollisionShape.
|
||||
///It is recommended for performance and memory use to share btCollisionShape objects whenever possible.
|
||||
///There are 3 types of rigid bodies:
|
||||
///- A) Dynamic rigid bodies, with positive mass. Motion is controlled by rigid body dynamics.
|
||||
///- B) Fixed objects with zero mass. They are not moving (basically collision objects)
|
||||
///- C) Kinematic objects, which are objects without mass, but the user can move them. There is on-way interaction, and Bullet calculates a velocity based on the timestep and previous and current world transform.
|
||||
///Bullet automatically deactivates dynamic rigid bodies, when the velocity is below a threshold for a given time.
|
||||
///Deactivated (sleeping) rigid bodies don't take any processing time, except a minor broadphase collision detection impact (to allow active objects to activate/wake up sleeping objects)
|
||||
class btRigidBody : public btCollisionObject
|
||||
{
|
||||
|
||||
btMatrix3x3 m_invInertiaTensorWorld;
|
||||
btVector3 m_linearVelocity;
|
||||
btVector3 m_angularVelocity;
|
||||
btScalar m_inverseMass;
|
||||
btVector3 m_linearFactor;
|
||||
|
||||
btVector3 m_gravity;
|
||||
btVector3 m_gravity_acceleration;
|
||||
btVector3 m_invInertiaLocal;
|
||||
btVector3 m_totalForce;
|
||||
btVector3 m_totalTorque;
|
||||
|
||||
btScalar m_linearDamping;
|
||||
btScalar m_angularDamping;
|
||||
|
||||
bool m_additionalDamping;
|
||||
btScalar m_additionalDampingFactor;
|
||||
btScalar m_additionalLinearDampingThresholdSqr;
|
||||
btScalar m_additionalAngularDampingThresholdSqr;
|
||||
btScalar m_additionalAngularDampingFactor;
|
||||
|
||||
|
||||
btScalar m_linearSleepingThreshold;
|
||||
btScalar m_angularSleepingThreshold;
|
||||
|
||||
//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;
|
||||
|
||||
int m_rigidbodyFlags;
|
||||
|
||||
int m_debugBodyId;
|
||||
|
||||
|
||||
protected:
|
||||
|
||||
ATTRIBUTE_ALIGNED16(btVector3 m_deltaLinearVelocity);
|
||||
btVector3 m_deltaAngularVelocity;
|
||||
btVector3 m_angularFactor;
|
||||
btVector3 m_invMass;
|
||||
btVector3 m_pushVelocity;
|
||||
btVector3 m_turnVelocity;
|
||||
|
||||
|
||||
public:
|
||||
|
||||
|
||||
///The btRigidBodyConstructionInfo structure provides information to create a rigid body. Setting mass to zero creates a fixed (non-dynamic) rigid body.
|
||||
///For dynamic objects, you can use the collision shape to approximate the local inertia tensor, otherwise use the zero vector (default argument)
|
||||
///You can use the motion state to synchronize the world transform between physics and graphics objects.
|
||||
///And if the motion state is provided, the rigid body will initialize its initial world transform from the motion state,
|
||||
///m_startWorldTransform is only used when you don't provide a motion state.
|
||||
struct btRigidBodyConstructionInfo
|
||||
{
|
||||
btScalar m_mass;
|
||||
|
||||
///When a motionState is provided, the rigid body will initialize its world transform from the motion state
|
||||
///In this case, m_startWorldTransform is ignored.
|
||||
btMotionState* m_motionState;
|
||||
btTransform m_startWorldTransform;
|
||||
|
||||
btCollisionShape* m_collisionShape;
|
||||
btVector3 m_localInertia;
|
||||
btScalar m_linearDamping;
|
||||
btScalar m_angularDamping;
|
||||
|
||||
///best simulation results when friction is non-zero
|
||||
btScalar m_friction;
|
||||
///the m_rollingFriction prevents rounded shapes, such as spheres, cylinders and capsules from rolling forever.
|
||||
///See Bullet/Demos/RollingFrictionDemo for usage
|
||||
btScalar m_rollingFriction;
|
||||
///best simulation results using zero restitution.
|
||||
btScalar m_restitution;
|
||||
|
||||
btScalar m_linearSleepingThreshold;
|
||||
btScalar m_angularSleepingThreshold;
|
||||
|
||||
//Additional damping can help avoiding lowpass jitter motion, help stability for ragdolls etc.
|
||||
//Such damping is undesirable, so once the overall simulation quality of the rigid body dynamics system has improved, this should become obsolete
|
||||
bool m_additionalDamping;
|
||||
btScalar m_additionalDampingFactor;
|
||||
btScalar m_additionalLinearDampingThresholdSqr;
|
||||
btScalar m_additionalAngularDampingThresholdSqr;
|
||||
btScalar m_additionalAngularDampingFactor;
|
||||
|
||||
btRigidBodyConstructionInfo( btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0)):
|
||||
m_mass(mass),
|
||||
m_motionState(motionState),
|
||||
m_collisionShape(collisionShape),
|
||||
m_localInertia(localInertia),
|
||||
m_linearDamping(btScalar(0.)),
|
||||
m_angularDamping(btScalar(0.)),
|
||||
m_friction(btScalar(0.5)),
|
||||
m_rollingFriction(btScalar(0)),
|
||||
m_restitution(btScalar(0.)),
|
||||
m_linearSleepingThreshold(btScalar(0.8)),
|
||||
m_angularSleepingThreshold(btScalar(1.f)),
|
||||
m_additionalDamping(false),
|
||||
m_additionalDampingFactor(btScalar(0.005)),
|
||||
m_additionalLinearDampingThresholdSqr(btScalar(0.01)),
|
||||
m_additionalAngularDampingThresholdSqr(btScalar(0.01)),
|
||||
m_additionalAngularDampingFactor(btScalar(0.01))
|
||||
{
|
||||
m_startWorldTransform.setIdentity();
|
||||
}
|
||||
};
|
||||
|
||||
///btRigidBody constructor using construction info
|
||||
btRigidBody( const btRigidBodyConstructionInfo& constructionInfo);
|
||||
|
||||
///btRigidBody constructor for backwards compatibility.
|
||||
///To specify friction (etc) during rigid body construction, please use the other constructor (using btRigidBodyConstructionInfo)
|
||||
btRigidBody( btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0));
|
||||
|
||||
|
||||
virtual ~btRigidBody()
|
||||
{
|
||||
//No constraints should point to this rigidbody
|
||||
//Remove constraints from the dynamics world before you delete the related rigidbodies.
|
||||
btAssert(m_constraintRefs.size()==0);
|
||||
}
|
||||
|
||||
protected:
|
||||
|
||||
///setupRigidBody is only used internally by the constructor
|
||||
void setupRigidBody(const btRigidBodyConstructionInfo& constructionInfo);
|
||||
|
||||
public:
|
||||
|
||||
void proceedToTransform(const btTransform& newTrans);
|
||||
|
||||
///to keep collision detection and dynamics separate we don't store a rigidbody pointer
|
||||
///but a rigidbody is derived from btCollisionObject, so we can safely perform an upcast
|
||||
static const btRigidBody* upcast(const btCollisionObject* colObj)
|
||||
{
|
||||
if (colObj->getInternalType()&btCollisionObject::CO_RIGID_BODY)
|
||||
return (const btRigidBody*)colObj;
|
||||
return 0;
|
||||
}
|
||||
static btRigidBody* upcast(btCollisionObject* colObj)
|
||||
{
|
||||
if (colObj->getInternalType()&btCollisionObject::CO_RIGID_BODY)
|
||||
return (btRigidBody*)colObj;
|
||||
return 0;
|
||||
}
|
||||
|
||||
/// continuous collision detection needs prediction
|
||||
void predictIntegratedTransform(btScalar step, btTransform& predictedTransform) ;
|
||||
|
||||
void saveKinematicState(btScalar step);
|
||||
|
||||
void applyGravity();
|
||||
|
||||
void setGravity(const btVector3& acceleration);
|
||||
|
||||
const btVector3& getGravity() const
|
||||
{
|
||||
return m_gravity_acceleration;
|
||||
}
|
||||
|
||||
void setDamping(btScalar lin_damping, btScalar ang_damping);
|
||||
|
||||
btScalar getLinearDamping() const
|
||||
{
|
||||
return m_linearDamping;
|
||||
}
|
||||
|
||||
btScalar getAngularDamping() const
|
||||
{
|
||||
return m_angularDamping;
|
||||
}
|
||||
|
||||
btScalar getLinearSleepingThreshold() const
|
||||
{
|
||||
return m_linearSleepingThreshold;
|
||||
}
|
||||
|
||||
btScalar getAngularSleepingThreshold() const
|
||||
{
|
||||
return m_angularSleepingThreshold;
|
||||
}
|
||||
|
||||
void applyDamping(btScalar timeStep);
|
||||
|
||||
SIMD_FORCE_INLINE const btCollisionShape* getCollisionShape() const {
|
||||
return m_collisionShape;
|
||||
}
|
||||
|
||||
SIMD_FORCE_INLINE btCollisionShape* getCollisionShape() {
|
||||
return m_collisionShape;
|
||||
}
|
||||
|
||||
void setMassProps(btScalar mass, const btVector3& inertia);
|
||||
|
||||
const btVector3& getLinearFactor() const
|
||||
{
|
||||
return m_linearFactor;
|
||||
}
|
||||
void setLinearFactor(const btVector3& linearFactor)
|
||||
{
|
||||
m_linearFactor = linearFactor;
|
||||
m_invMass = m_linearFactor*m_inverseMass;
|
||||
}
|
||||
btScalar getInvMass() const { return m_inverseMass; }
|
||||
const btMatrix3x3& getInvInertiaTensorWorld() const {
|
||||
return m_invInertiaTensorWorld;
|
||||
}
|
||||
|
||||
void integrateVelocities(btScalar step);
|
||||
|
||||
void setCenterOfMassTransform(const btTransform& xform);
|
||||
|
||||
void applyCentralForce(const btVector3& force)
|
||||
{
|
||||
m_totalForce += force*m_linearFactor;
|
||||
}
|
||||
|
||||
const btVector3& getTotalForce() const
|
||||
{
|
||||
return m_totalForce;
|
||||
};
|
||||
|
||||
const btVector3& getTotalTorque() const
|
||||
{
|
||||
return m_totalTorque;
|
||||
};
|
||||
|
||||
const btVector3& getInvInertiaDiagLocal() const
|
||||
{
|
||||
return m_invInertiaLocal;
|
||||
};
|
||||
|
||||
void setInvInertiaDiagLocal(const btVector3& diagInvInertia)
|
||||
{
|
||||
m_invInertiaLocal = diagInvInertia;
|
||||
}
|
||||
|
||||
void setSleepingThresholds(btScalar linear,btScalar angular)
|
||||
{
|
||||
m_linearSleepingThreshold = linear;
|
||||
m_angularSleepingThreshold = angular;
|
||||
}
|
||||
|
||||
void applyTorque(const btVector3& torque)
|
||||
{
|
||||
m_totalTorque += torque*m_angularFactor;
|
||||
}
|
||||
|
||||
void applyForce(const btVector3& force, const btVector3& rel_pos)
|
||||
{
|
||||
applyCentralForce(force);
|
||||
applyTorque(rel_pos.cross(force*m_linearFactor));
|
||||
}
|
||||
|
||||
void applyCentralImpulse(const btVector3& impulse)
|
||||
{
|
||||
m_linearVelocity += impulse *m_linearFactor * m_inverseMass;
|
||||
}
|
||||
|
||||
void applyTorqueImpulse(const btVector3& torque)
|
||||
{
|
||||
m_angularVelocity += m_invInertiaTensorWorld * torque * m_angularFactor;
|
||||
}
|
||||
|
||||
void applyImpulse(const btVector3& impulse, const btVector3& rel_pos)
|
||||
{
|
||||
if (m_inverseMass != btScalar(0.))
|
||||
{
|
||||
applyCentralImpulse(impulse);
|
||||
if (m_angularFactor)
|
||||
{
|
||||
applyTorqueImpulse(rel_pos.cross(impulse*m_linearFactor));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void clearForces()
|
||||
{
|
||||
m_totalForce.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
|
||||
m_totalTorque.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
|
||||
}
|
||||
|
||||
void updateInertiaTensor();
|
||||
|
||||
const btVector3& getCenterOfMassPosition() const {
|
||||
return m_worldTransform.getOrigin();
|
||||
}
|
||||
btQuaternion getOrientation() const;
|
||||
|
||||
const btTransform& getCenterOfMassTransform() const {
|
||||
return m_worldTransform;
|
||||
}
|
||||
const btVector3& getLinearVelocity() const {
|
||||
return m_linearVelocity;
|
||||
}
|
||||
const btVector3& getAngularVelocity() const {
|
||||
return m_angularVelocity;
|
||||
}
|
||||
|
||||
|
||||
inline void setLinearVelocity(const btVector3& lin_vel)
|
||||
{
|
||||
m_updateRevision++;
|
||||
m_linearVelocity = lin_vel;
|
||||
}
|
||||
|
||||
inline void setAngularVelocity(const btVector3& ang_vel)
|
||||
{
|
||||
m_updateRevision++;
|
||||
m_angularVelocity = ang_vel;
|
||||
}
|
||||
|
||||
btVector3 getVelocityInLocalPoint(const btVector3& rel_pos) const
|
||||
{
|
||||
//we also calculate lin/ang velocity for kinematic objects
|
||||
return m_linearVelocity + m_angularVelocity.cross(rel_pos);
|
||||
|
||||
//for kinematic objects, we could also use use:
|
||||
// return (m_worldTransform(rel_pos) - m_interpolationWorldTransform(rel_pos)) / m_kinematicTimeStep;
|
||||
}
|
||||
|
||||
void translate(const btVector3& v)
|
||||
{
|
||||
m_worldTransform.getOrigin() += v;
|
||||
}
|
||||
|
||||
|
||||
void getAabb(btVector3& aabbMin,btVector3& aabbMax) const;
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
SIMD_FORCE_INLINE btScalar computeImpulseDenominator(const btVector3& pos, const btVector3& normal) const
|
||||
{
|
||||
btVector3 r0 = pos - getCenterOfMassPosition();
|
||||
|
||||
btVector3 c0 = (r0).cross(normal);
|
||||
|
||||
btVector3 vec = (c0 * getInvInertiaTensorWorld()).cross(r0);
|
||||
|
||||
return m_inverseMass + normal.dot(vec);
|
||||
|
||||
}
|
||||
|
||||
SIMD_FORCE_INLINE btScalar computeAngularImpulseDenominator(const btVector3& axis) const
|
||||
{
|
||||
btVector3 vec = axis * getInvInertiaTensorWorld();
|
||||
return axis.dot(vec);
|
||||
}
|
||||
|
||||
SIMD_FORCE_INLINE void updateDeactivation(btScalar timeStep)
|
||||
{
|
||||
if ( (getActivationState() == ISLAND_SLEEPING) || (getActivationState() == DISABLE_DEACTIVATION))
|
||||
return;
|
||||
|
||||
if ((getLinearVelocity().length2() < m_linearSleepingThreshold*m_linearSleepingThreshold) &&
|
||||
(getAngularVelocity().length2() < m_angularSleepingThreshold*m_angularSleepingThreshold))
|
||||
{
|
||||
m_deactivationTime += timeStep;
|
||||
} else
|
||||
{
|
||||
m_deactivationTime=btScalar(0.);
|
||||
setActivationState(0);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
SIMD_FORCE_INLINE bool wantsSleeping()
|
||||
{
|
||||
|
||||
if (getActivationState() == DISABLE_DEACTIVATION)
|
||||
return false;
|
||||
|
||||
//disable deactivation
|
||||
if (gDisableDeactivation || (gDeactivationTime == btScalar(0.)))
|
||||
return false;
|
||||
|
||||
if ( (getActivationState() == ISLAND_SLEEPING) || (getActivationState() == WANTS_DEACTIVATION))
|
||||
return true;
|
||||
|
||||
if (m_deactivationTime> gDeactivationTime)
|
||||
{
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
|
||||
const btBroadphaseProxy* getBroadphaseProxy() const
|
||||
{
|
||||
return m_broadphaseHandle;
|
||||
}
|
||||
btBroadphaseProxy* getBroadphaseProxy()
|
||||
{
|
||||
return m_broadphaseHandle;
|
||||
}
|
||||
void setNewBroadphaseProxy(btBroadphaseProxy* broadphaseProxy)
|
||||
{
|
||||
m_broadphaseHandle = broadphaseProxy;
|
||||
}
|
||||
|
||||
//btMotionState allows to automatic synchronize the world transform for active objects
|
||||
btMotionState* getMotionState()
|
||||
{
|
||||
return m_optionalMotionState;
|
||||
}
|
||||
const btMotionState* getMotionState() const
|
||||
{
|
||||
return m_optionalMotionState;
|
||||
}
|
||||
void setMotionState(btMotionState* motionState)
|
||||
{
|
||||
m_optionalMotionState = motionState;
|
||||
if (m_optionalMotionState)
|
||||
motionState->getWorldTransform(m_worldTransform);
|
||||
}
|
||||
|
||||
//for experimental overriding of friction/contact solver func
|
||||
int m_contactSolverType;
|
||||
int m_frictionSolverType;
|
||||
|
||||
void setAngularFactor(const btVector3& angFac)
|
||||
{
|
||||
m_updateRevision++;
|
||||
m_angularFactor = angFac;
|
||||
}
|
||||
|
||||
void setAngularFactor(btScalar angFac)
|
||||
{
|
||||
m_updateRevision++;
|
||||
m_angularFactor.setValue(angFac,angFac,angFac);
|
||||
}
|
||||
const btVector3& getAngularFactor() const
|
||||
{
|
||||
return m_angularFactor;
|
||||
}
|
||||
|
||||
//is this rigidbody added to a btCollisionWorld/btDynamicsWorld/btBroadphase?
|
||||
bool isInWorld() const
|
||||
{
|
||||
return (getBroadphaseProxy() != 0);
|
||||
}
|
||||
|
||||
virtual bool checkCollideWithOverride(const btCollisionObject* co) const;
|
||||
|
||||
void addConstraintRef(btTypedConstraint* c);
|
||||
void removeConstraintRef(btTypedConstraint* c);
|
||||
|
||||
btTypedConstraint* getConstraintRef(int index)
|
||||
{
|
||||
return m_constraintRefs[index];
|
||||
}
|
||||
|
||||
int getNumConstraintRefs() const
|
||||
{
|
||||
return m_constraintRefs.size();
|
||||
}
|
||||
|
||||
void setFlags(int flags)
|
||||
{
|
||||
m_rigidbodyFlags = flags;
|
||||
}
|
||||
|
||||
int getFlags() const
|
||||
{
|
||||
return m_rigidbodyFlags;
|
||||
}
|
||||
|
||||
btVector3 computeGyroscopicForce(btScalar maxGyroscopicForce) const;
|
||||
|
||||
///////////////////////////////////////////////
|
||||
|
||||
virtual int calculateSerializeBufferSize() const;
|
||||
|
||||
///fills the dataBuffer and returns the struct name (and 0 on failure)
|
||||
virtual const char* serialize(void* dataBuffer, class btSerializer* serializer) const;
|
||||
|
||||
virtual void serializeSingleObject(class btSerializer* serializer) const;
|
||||
|
||||
};
|
||||
|
||||
//@todo add m_optionalMotionState and m_constraintRefs to btRigidBodyData
|
||||
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
|
||||
struct btRigidBodyFloatData
|
||||
{
|
||||
btCollisionObjectFloatData m_collisionObjectData;
|
||||
btMatrix3x3FloatData m_invInertiaTensorWorld;
|
||||
btVector3FloatData m_linearVelocity;
|
||||
btVector3FloatData m_angularVelocity;
|
||||
btVector3FloatData m_angularFactor;
|
||||
btVector3FloatData m_linearFactor;
|
||||
btVector3FloatData m_gravity;
|
||||
btVector3FloatData m_gravity_acceleration;
|
||||
btVector3FloatData m_invInertiaLocal;
|
||||
btVector3FloatData m_totalForce;
|
||||
btVector3FloatData m_totalTorque;
|
||||
float m_inverseMass;
|
||||
float m_linearDamping;
|
||||
float m_angularDamping;
|
||||
float m_additionalDampingFactor;
|
||||
float m_additionalLinearDampingThresholdSqr;
|
||||
float m_additionalAngularDampingThresholdSqr;
|
||||
float m_additionalAngularDampingFactor;
|
||||
float m_linearSleepingThreshold;
|
||||
float m_angularSleepingThreshold;
|
||||
int m_additionalDamping;
|
||||
};
|
||||
|
||||
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
|
||||
struct btRigidBodyDoubleData
|
||||
{
|
||||
btCollisionObjectDoubleData m_collisionObjectData;
|
||||
btMatrix3x3DoubleData m_invInertiaTensorWorld;
|
||||
btVector3DoubleData m_linearVelocity;
|
||||
btVector3DoubleData m_angularVelocity;
|
||||
btVector3DoubleData m_angularFactor;
|
||||
btVector3DoubleData m_linearFactor;
|
||||
btVector3DoubleData m_gravity;
|
||||
btVector3DoubleData m_gravity_acceleration;
|
||||
btVector3DoubleData m_invInertiaLocal;
|
||||
btVector3DoubleData m_totalForce;
|
||||
btVector3DoubleData m_totalTorque;
|
||||
double m_inverseMass;
|
||||
double m_linearDamping;
|
||||
double m_angularDamping;
|
||||
double m_additionalDampingFactor;
|
||||
double m_additionalLinearDampingThresholdSqr;
|
||||
double m_additionalAngularDampingThresholdSqr;
|
||||
double m_additionalAngularDampingFactor;
|
||||
double m_linearSleepingThreshold;
|
||||
double m_angularSleepingThreshold;
|
||||
int m_additionalDamping;
|
||||
char m_padding[4];
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif //BT_RIGIDBODY_H
|
||||
|
||||
@@ -0,0 +1,280 @@
|
||||
/*
|
||||
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.
|
||||
*/
|
||||
|
||||
#include "btSimpleDynamicsWorld.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
|
||||
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
|
||||
#include "BulletDynamics/Dynamics/btRigidBody.h"
|
||||
#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
|
||||
#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
|
||||
|
||||
|
||||
/*
|
||||
Make sure this dummy function never changes so that it
|
||||
can be used by probes that are checking whether the
|
||||
library is actually installed.
|
||||
*/
|
||||
extern "C"
|
||||
{
|
||||
void btBulletDynamicsProbe ();
|
||||
void btBulletDynamicsProbe () {}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
btSimpleDynamicsWorld::btSimpleDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration)
|
||||
:btDynamicsWorld(dispatcher,pairCache,collisionConfiguration),
|
||||
m_constraintSolver(constraintSolver),
|
||||
m_ownsConstraintSolver(false),
|
||||
m_gravity(0,0,-10)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
|
||||
btSimpleDynamicsWorld::~btSimpleDynamicsWorld()
|
||||
{
|
||||
if (m_ownsConstraintSolver)
|
||||
btAlignedFree( m_constraintSolver);
|
||||
}
|
||||
|
||||
int btSimpleDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, btScalar fixedTimeStep)
|
||||
{
|
||||
(void)fixedTimeStep;
|
||||
(void)maxSubSteps;
|
||||
|
||||
|
||||
///apply gravity, predict motion
|
||||
predictUnconstraintMotion(timeStep);
|
||||
|
||||
btDispatcherInfo& dispatchInfo = getDispatchInfo();
|
||||
dispatchInfo.m_timeStep = timeStep;
|
||||
dispatchInfo.m_stepCount = 0;
|
||||
dispatchInfo.m_debugDraw = getDebugDrawer();
|
||||
|
||||
///perform collision detection
|
||||
performDiscreteCollisionDetection();
|
||||
|
||||
///solve contact constraints
|
||||
int numManifolds = m_dispatcher1->getNumManifolds();
|
||||
if (numManifolds)
|
||||
{
|
||||
btPersistentManifold** manifoldPtr = ((btCollisionDispatcher*)m_dispatcher1)->getInternalManifoldPointer();
|
||||
|
||||
btContactSolverInfo infoGlobal;
|
||||
infoGlobal.m_timeStep = timeStep;
|
||||
m_constraintSolver->prepareSolve(0,numManifolds);
|
||||
m_constraintSolver->solveGroup(&getCollisionObjectArray()[0],getNumCollisionObjects(),manifoldPtr, numManifolds,0,0,infoGlobal,m_debugDrawer, m_dispatcher1);
|
||||
m_constraintSolver->allSolved(infoGlobal,m_debugDrawer);
|
||||
}
|
||||
|
||||
///integrate transforms
|
||||
integrateTransforms(timeStep);
|
||||
|
||||
updateAabbs();
|
||||
|
||||
synchronizeMotionStates();
|
||||
|
||||
clearForces();
|
||||
|
||||
return 1;
|
||||
|
||||
}
|
||||
|
||||
void btSimpleDynamicsWorld::clearForces()
|
||||
{
|
||||
///@todo: iterate over awake simulation islands!
|
||||
for ( int i=0;i<m_collisionObjects.size();i++)
|
||||
{
|
||||
btCollisionObject* colObj = m_collisionObjects[i];
|
||||
|
||||
btRigidBody* body = btRigidBody::upcast(colObj);
|
||||
if (body)
|
||||
{
|
||||
body->clearForces();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void btSimpleDynamicsWorld::setGravity(const btVector3& gravity)
|
||||
{
|
||||
m_gravity = gravity;
|
||||
for ( int i=0;i<m_collisionObjects.size();i++)
|
||||
{
|
||||
btCollisionObject* colObj = m_collisionObjects[i];
|
||||
btRigidBody* body = btRigidBody::upcast(colObj);
|
||||
if (body)
|
||||
{
|
||||
body->setGravity(gravity);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
btVector3 btSimpleDynamicsWorld::getGravity () const
|
||||
{
|
||||
return m_gravity;
|
||||
}
|
||||
|
||||
void btSimpleDynamicsWorld::removeRigidBody(btRigidBody* body)
|
||||
{
|
||||
btCollisionWorld::removeCollisionObject(body);
|
||||
}
|
||||
|
||||
void btSimpleDynamicsWorld::removeCollisionObject(btCollisionObject* collisionObject)
|
||||
{
|
||||
btRigidBody* body = btRigidBody::upcast(collisionObject);
|
||||
if (body)
|
||||
removeRigidBody(body);
|
||||
else
|
||||
btCollisionWorld::removeCollisionObject(collisionObject);
|
||||
}
|
||||
|
||||
|
||||
void btSimpleDynamicsWorld::addRigidBody(btRigidBody* body)
|
||||
{
|
||||
body->setGravity(m_gravity);
|
||||
|
||||
if (body->getCollisionShape())
|
||||
{
|
||||
addCollisionObject(body);
|
||||
}
|
||||
}
|
||||
|
||||
void btSimpleDynamicsWorld::addRigidBody(btRigidBody* body, short group, short mask)
|
||||
{
|
||||
body->setGravity(m_gravity);
|
||||
|
||||
if (body->getCollisionShape())
|
||||
{
|
||||
addCollisionObject(body,group,mask);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void btSimpleDynamicsWorld::debugDrawWorld()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
void btSimpleDynamicsWorld::addAction(btActionInterface* action)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
void btSimpleDynamicsWorld::removeAction(btActionInterface* action)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
|
||||
void btSimpleDynamicsWorld::updateAabbs()
|
||||
{
|
||||
btTransform predictedTrans;
|
||||
for ( int i=0;i<m_collisionObjects.size();i++)
|
||||
{
|
||||
btCollisionObject* colObj = m_collisionObjects[i];
|
||||
btRigidBody* body = btRigidBody::upcast(colObj);
|
||||
if (body)
|
||||
{
|
||||
if (body->isActive() && (!body->isStaticObject()))
|
||||
{
|
||||
btVector3 minAabb,maxAabb;
|
||||
colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
|
||||
btBroadphaseInterface* bp = getBroadphase();
|
||||
bp->setAabb(body->getBroadphaseHandle(),minAabb,maxAabb, m_dispatcher1);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void btSimpleDynamicsWorld::integrateTransforms(btScalar timeStep)
|
||||
{
|
||||
btTransform predictedTrans;
|
||||
for ( int i=0;i<m_collisionObjects.size();i++)
|
||||
{
|
||||
btCollisionObject* colObj = m_collisionObjects[i];
|
||||
btRigidBody* body = btRigidBody::upcast(colObj);
|
||||
if (body)
|
||||
{
|
||||
if (body->isActive() && (!body->isStaticObject()))
|
||||
{
|
||||
body->predictIntegratedTransform(timeStep, predictedTrans);
|
||||
body->proceedToTransform( predictedTrans);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
void btSimpleDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
|
||||
{
|
||||
for ( int i=0;i<m_collisionObjects.size();i++)
|
||||
{
|
||||
btCollisionObject* colObj = m_collisionObjects[i];
|
||||
btRigidBody* body = btRigidBody::upcast(colObj);
|
||||
if (body)
|
||||
{
|
||||
if (!body->isStaticObject())
|
||||
{
|
||||
if (body->isActive())
|
||||
{
|
||||
body->applyGravity();
|
||||
body->integrateVelocities( timeStep);
|
||||
body->applyDamping(timeStep);
|
||||
body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform());
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void btSimpleDynamicsWorld::synchronizeMotionStates()
|
||||
{
|
||||
///@todo: iterate over awake simulation islands!
|
||||
for ( int i=0;i<m_collisionObjects.size();i++)
|
||||
{
|
||||
btCollisionObject* colObj = m_collisionObjects[i];
|
||||
btRigidBody* body = btRigidBody::upcast(colObj);
|
||||
if (body && body->getMotionState())
|
||||
{
|
||||
if (body->getActivationState() != ISLAND_SLEEPING)
|
||||
{
|
||||
body->getMotionState()->setWorldTransform(body->getWorldTransform());
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
void btSimpleDynamicsWorld::setConstraintSolver(btConstraintSolver* solver)
|
||||
{
|
||||
if (m_ownsConstraintSolver)
|
||||
{
|
||||
btAlignedFree(m_constraintSolver);
|
||||
}
|
||||
m_ownsConstraintSolver = false;
|
||||
m_constraintSolver = solver;
|
||||
}
|
||||
|
||||
btConstraintSolver* btSimpleDynamicsWorld::getConstraintSolver()
|
||||
{
|
||||
return m_constraintSolver;
|
||||
}
|
||||
@@ -0,0 +1,89 @@
|
||||
/*
|
||||
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_SIMPLE_DYNAMICS_WORLD_H
|
||||
#define BT_SIMPLE_DYNAMICS_WORLD_H
|
||||
|
||||
#include "btDynamicsWorld.h"
|
||||
|
||||
class btDispatcher;
|
||||
class btOverlappingPairCache;
|
||||
class btConstraintSolver;
|
||||
|
||||
///The btSimpleDynamicsWorld serves as unit-test and to verify more complicated and optimized dynamics worlds.
|
||||
///Please use btDiscreteDynamicsWorld instead
|
||||
class btSimpleDynamicsWorld : public btDynamicsWorld
|
||||
{
|
||||
protected:
|
||||
|
||||
btConstraintSolver* m_constraintSolver;
|
||||
|
||||
bool m_ownsConstraintSolver;
|
||||
|
||||
void predictUnconstraintMotion(btScalar timeStep);
|
||||
|
||||
void integrateTransforms(btScalar timeStep);
|
||||
|
||||
btVector3 m_gravity;
|
||||
|
||||
public:
|
||||
|
||||
|
||||
|
||||
///this btSimpleDynamicsWorld constructor creates dispatcher, broadphase pairCache and constraintSolver
|
||||
btSimpleDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
|
||||
|
||||
virtual ~btSimpleDynamicsWorld();
|
||||
|
||||
///maxSubSteps/fixedTimeStep for interpolation is currently ignored for btSimpleDynamicsWorld, use btDiscreteDynamicsWorld instead
|
||||
virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.));
|
||||
|
||||
virtual void setGravity(const btVector3& gravity);
|
||||
|
||||
virtual btVector3 getGravity () const;
|
||||
|
||||
virtual void addRigidBody(btRigidBody* body);
|
||||
|
||||
virtual void addRigidBody(btRigidBody* body, short group, short mask);
|
||||
|
||||
virtual void removeRigidBody(btRigidBody* body);
|
||||
|
||||
virtual void debugDrawWorld();
|
||||
|
||||
virtual void addAction(btActionInterface* action);
|
||||
|
||||
virtual void removeAction(btActionInterface* action);
|
||||
|
||||
///removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btCollisionWorld::removeCollisionObject
|
||||
virtual void removeCollisionObject(btCollisionObject* collisionObject);
|
||||
|
||||
virtual void updateAabbs();
|
||||
|
||||
virtual void synchronizeMotionStates();
|
||||
|
||||
virtual void setConstraintSolver(btConstraintSolver* solver);
|
||||
|
||||
virtual btConstraintSolver* getConstraintSolver();
|
||||
|
||||
virtual btDynamicsWorldType getWorldType() const
|
||||
{
|
||||
return BT_SIMPLE_DYNAMICS_WORLD;
|
||||
}
|
||||
|
||||
virtual void clearForces();
|
||||
|
||||
};
|
||||
|
||||
#endif //BT_SIMPLE_DYNAMICS_WORLD_H
|
||||
Reference in New Issue
Block a user