[1963] | 1 | /* |
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| 2 | Bullet Continuous Collision Detection and Physics Library |
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| 3 | Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ |
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| 4 | |
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| 5 | This software is provided 'as-is', without any express or implied warranty. |
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| 6 | In no event will the authors be held liable for any damages arising from the use of this software. |
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| 7 | Permission is granted to anyone to use this software for any purpose, |
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| 8 | including commercial applications, and to alter it and redistribute it freely, |
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| 9 | subject to the following restrictions: |
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| 10 | |
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| 11 | 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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| 12 | 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
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| 13 | 3. This notice may not be removed or altered from any source distribution. |
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| 14 | */ |
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| 15 | |
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| 16 | #ifndef RIGIDBODY_H |
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| 17 | #define RIGIDBODY_H |
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| 18 | |
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| 19 | #include "LinearMath/btAlignedObjectArray.h" |
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| 20 | #include "LinearMath/btTransform.h" |
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| 21 | #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" |
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| 22 | #include "BulletCollision/CollisionDispatch/btCollisionObject.h" |
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| 23 | |
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| 24 | class btCollisionShape; |
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| 25 | class btMotionState; |
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| 26 | class btTypedConstraint; |
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| 27 | |
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| 28 | |
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| 29 | extern btScalar gDeactivationTime; |
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| 30 | extern bool gDisableDeactivation; |
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| 31 | |
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[7983] | 32 | #ifdef BT_USE_DOUBLE_PRECISION |
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| 33 | #define btRigidBodyData btRigidBodyDoubleData |
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| 34 | #define btRigidBodyDataName "btRigidBodyDoubleData" |
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| 35 | #else |
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| 36 | #define btRigidBodyData btRigidBodyFloatData |
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| 37 | #define btRigidBodyDataName "btRigidBodyFloatData" |
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| 38 | #endif //BT_USE_DOUBLE_PRECISION |
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[1963] | 39 | |
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[7983] | 40 | |
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| 41 | enum btRigidBodyFlags |
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| 42 | { |
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| 43 | BT_DISABLE_WORLD_GRAVITY = 1 |
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| 44 | }; |
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| 45 | |
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| 46 | |
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[2430] | 47 | ///The btRigidBody is the main class for rigid body objects. It is derived from btCollisionObject, so it keeps a pointer to a btCollisionShape. |
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[1963] | 48 | ///It is recommended for performance and memory use to share btCollisionShape objects whenever possible. |
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| 49 | ///There are 3 types of rigid bodies: |
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| 50 | ///- A) Dynamic rigid bodies, with positive mass. Motion is controlled by rigid body dynamics. |
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| 51 | ///- B) Fixed objects with zero mass. They are not moving (basically collision objects) |
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| 52 | ///- 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. |
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| 53 | ///Bullet automatically deactivates dynamic rigid bodies, when the velocity is below a threshold for a given time. |
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| 54 | ///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) |
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| 55 | class btRigidBody : public btCollisionObject |
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| 56 | { |
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| 57 | |
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| 58 | btMatrix3x3 m_invInertiaTensorWorld; |
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| 59 | btVector3 m_linearVelocity; |
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| 60 | btVector3 m_angularVelocity; |
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| 61 | btScalar m_inverseMass; |
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[7983] | 62 | btVector3 m_linearFactor; |
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[1963] | 63 | |
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| 64 | btVector3 m_gravity; |
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[2882] | 65 | btVector3 m_gravity_acceleration; |
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[1963] | 66 | btVector3 m_invInertiaLocal; |
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| 67 | btVector3 m_totalForce; |
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| 68 | btVector3 m_totalTorque; |
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| 69 | |
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| 70 | btScalar m_linearDamping; |
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| 71 | btScalar m_angularDamping; |
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| 72 | |
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| 73 | bool m_additionalDamping; |
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| 74 | btScalar m_additionalDampingFactor; |
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| 75 | btScalar m_additionalLinearDampingThresholdSqr; |
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| 76 | btScalar m_additionalAngularDampingThresholdSqr; |
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| 77 | btScalar m_additionalAngularDampingFactor; |
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| 78 | |
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| 79 | |
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| 80 | btScalar m_linearSleepingThreshold; |
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| 81 | btScalar m_angularSleepingThreshold; |
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| 82 | |
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| 83 | //m_optionalMotionState allows to automatic synchronize the world transform for active objects |
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| 84 | btMotionState* m_optionalMotionState; |
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| 85 | |
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| 86 | //keep track of typed constraints referencing this rigid body |
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| 87 | btAlignedObjectArray<btTypedConstraint*> m_constraintRefs; |
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| 88 | |
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[7983] | 89 | int m_rigidbodyFlags; |
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| 90 | |
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| 91 | int m_debugBodyId; |
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| 92 | |
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| 93 | |
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| 94 | protected: |
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| 95 | |
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| 96 | ATTRIBUTE_ALIGNED64(btVector3 m_deltaLinearVelocity); |
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| 97 | btVector3 m_deltaAngularVelocity; |
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| 98 | btVector3 m_angularFactor; |
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| 99 | btVector3 m_invMass; |
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| 100 | btVector3 m_pushVelocity; |
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| 101 | btVector3 m_turnVelocity; |
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| 102 | |
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| 103 | |
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[1963] | 104 | public: |
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| 105 | |
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| 106 | |
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[2430] | 107 | ///The btRigidBodyConstructionInfo structure provides information to create a rigid body. Setting mass to zero creates a fixed (non-dynamic) rigid body. |
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[1963] | 108 | ///For dynamic objects, you can use the collision shape to approximate the local inertia tensor, otherwise use the zero vector (default argument) |
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| 109 | ///You can use the motion state to synchronize the world transform between physics and graphics objects. |
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| 110 | ///And if the motion state is provided, the rigid body will initialize its initial world transform from the motion state, |
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| 111 | ///m_startWorldTransform is only used when you don't provide a motion state. |
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| 112 | struct btRigidBodyConstructionInfo |
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| 113 | { |
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| 114 | btScalar m_mass; |
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| 115 | |
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| 116 | ///When a motionState is provided, the rigid body will initialize its world transform from the motion state |
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| 117 | ///In this case, m_startWorldTransform is ignored. |
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| 118 | btMotionState* m_motionState; |
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| 119 | btTransform m_startWorldTransform; |
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| 120 | |
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| 121 | btCollisionShape* m_collisionShape; |
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| 122 | btVector3 m_localInertia; |
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| 123 | btScalar m_linearDamping; |
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| 124 | btScalar m_angularDamping; |
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| 125 | |
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| 126 | ///best simulation results when friction is non-zero |
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| 127 | btScalar m_friction; |
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| 128 | ///best simulation results using zero restitution. |
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| 129 | btScalar m_restitution; |
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| 130 | |
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| 131 | btScalar m_linearSleepingThreshold; |
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| 132 | btScalar m_angularSleepingThreshold; |
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| 133 | |
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| 134 | //Additional damping can help avoiding lowpass jitter motion, help stability for ragdolls etc. |
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| 135 | //Such damping is undesirable, so once the overall simulation quality of the rigid body dynamics system has improved, this should become obsolete |
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| 136 | bool m_additionalDamping; |
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| 137 | btScalar m_additionalDampingFactor; |
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| 138 | btScalar m_additionalLinearDampingThresholdSqr; |
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| 139 | btScalar m_additionalAngularDampingThresholdSqr; |
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| 140 | btScalar m_additionalAngularDampingFactor; |
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| 141 | |
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| 142 | btRigidBodyConstructionInfo( btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0)): |
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| 143 | m_mass(mass), |
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| 144 | m_motionState(motionState), |
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| 145 | m_collisionShape(collisionShape), |
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| 146 | m_localInertia(localInertia), |
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| 147 | m_linearDamping(btScalar(0.)), |
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| 148 | m_angularDamping(btScalar(0.)), |
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| 149 | m_friction(btScalar(0.5)), |
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| 150 | m_restitution(btScalar(0.)), |
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| 151 | m_linearSleepingThreshold(btScalar(0.8)), |
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| 152 | m_angularSleepingThreshold(btScalar(1.f)), |
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| 153 | m_additionalDamping(false), |
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| 154 | m_additionalDampingFactor(btScalar(0.005)), |
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| 155 | m_additionalLinearDampingThresholdSqr(btScalar(0.01)), |
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| 156 | m_additionalAngularDampingThresholdSqr(btScalar(0.01)), |
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| 157 | m_additionalAngularDampingFactor(btScalar(0.01)) |
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| 158 | { |
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| 159 | m_startWorldTransform.setIdentity(); |
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| 160 | } |
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| 161 | }; |
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| 162 | |
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| 163 | ///btRigidBody constructor using construction info |
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| 164 | btRigidBody( const btRigidBodyConstructionInfo& constructionInfo); |
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| 165 | |
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| 166 | ///btRigidBody constructor for backwards compatibility. |
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| 167 | ///To specify friction (etc) during rigid body construction, please use the other constructor (using btRigidBodyConstructionInfo) |
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| 168 | btRigidBody( btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0)); |
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| 169 | |
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| 170 | |
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| 171 | virtual ~btRigidBody() |
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| 172 | { |
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| 173 | //No constraints should point to this rigidbody |
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| 174 | //Remove constraints from the dynamics world before you delete the related rigidbodies. |
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| 175 | btAssert(m_constraintRefs.size()==0); |
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| 176 | } |
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| 177 | |
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| 178 | protected: |
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| 179 | |
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| 180 | ///setupRigidBody is only used internally by the constructor |
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| 181 | void setupRigidBody(const btRigidBodyConstructionInfo& constructionInfo); |
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| 182 | |
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| 183 | public: |
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| 184 | |
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| 185 | void proceedToTransform(const btTransform& newTrans); |
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| 186 | |
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| 187 | ///to keep collision detection and dynamics separate we don't store a rigidbody pointer |
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| 188 | ///but a rigidbody is derived from btCollisionObject, so we can safely perform an upcast |
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| 189 | static const btRigidBody* upcast(const btCollisionObject* colObj) |
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| 190 | { |
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[7983] | 191 | if (colObj->getInternalType()&btCollisionObject::CO_RIGID_BODY) |
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[1963] | 192 | return (const btRigidBody*)colObj; |
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| 193 | return 0; |
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| 194 | } |
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| 195 | static btRigidBody* upcast(btCollisionObject* colObj) |
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| 196 | { |
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[7983] | 197 | if (colObj->getInternalType()&btCollisionObject::CO_RIGID_BODY) |
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[1963] | 198 | return (btRigidBody*)colObj; |
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| 199 | return 0; |
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| 200 | } |
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| 201 | |
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| 202 | /// continuous collision detection needs prediction |
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| 203 | void predictIntegratedTransform(btScalar step, btTransform& predictedTransform) ; |
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| 204 | |
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| 205 | void saveKinematicState(btScalar step); |
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| 206 | |
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| 207 | void applyGravity(); |
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| 208 | |
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| 209 | void setGravity(const btVector3& acceleration); |
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| 210 | |
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| 211 | const btVector3& getGravity() const |
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| 212 | { |
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[2882] | 213 | return m_gravity_acceleration; |
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[1963] | 214 | } |
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| 215 | |
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| 216 | void setDamping(btScalar lin_damping, btScalar ang_damping); |
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| 217 | |
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| 218 | btScalar getLinearDamping() const |
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| 219 | { |
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| 220 | return m_linearDamping; |
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| 221 | } |
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| 222 | |
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| 223 | btScalar getAngularDamping() const |
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| 224 | { |
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| 225 | return m_angularDamping; |
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| 226 | } |
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| 227 | |
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| 228 | btScalar getLinearSleepingThreshold() const |
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| 229 | { |
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| 230 | return m_linearSleepingThreshold; |
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| 231 | } |
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| 232 | |
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| 233 | btScalar getAngularSleepingThreshold() const |
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| 234 | { |
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| 235 | return m_angularSleepingThreshold; |
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| 236 | } |
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| 237 | |
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| 238 | void applyDamping(btScalar timeStep); |
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| 239 | |
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| 240 | SIMD_FORCE_INLINE const btCollisionShape* getCollisionShape() const { |
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| 241 | return m_collisionShape; |
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| 242 | } |
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| 243 | |
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| 244 | SIMD_FORCE_INLINE btCollisionShape* getCollisionShape() { |
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| 245 | return m_collisionShape; |
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| 246 | } |
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| 247 | |
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| 248 | void setMassProps(btScalar mass, const btVector3& inertia); |
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| 249 | |
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[7983] | 250 | const btVector3& getLinearFactor() const |
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| 251 | { |
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| 252 | return m_linearFactor; |
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| 253 | } |
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| 254 | void setLinearFactor(const btVector3& linearFactor) |
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| 255 | { |
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| 256 | m_linearFactor = linearFactor; |
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| 257 | m_invMass = m_linearFactor*m_inverseMass; |
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| 258 | } |
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[1963] | 259 | btScalar getInvMass() const { return m_inverseMass; } |
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| 260 | const btMatrix3x3& getInvInertiaTensorWorld() const { |
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| 261 | return m_invInertiaTensorWorld; |
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| 262 | } |
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| 263 | |
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| 264 | void integrateVelocities(btScalar step); |
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| 265 | |
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| 266 | void setCenterOfMassTransform(const btTransform& xform); |
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| 267 | |
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| 268 | void applyCentralForce(const btVector3& force) |
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| 269 | { |
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[7983] | 270 | m_totalForce += force*m_linearFactor; |
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[1963] | 271 | } |
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[2882] | 272 | |
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| 273 | const btVector3& getTotalForce() |
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| 274 | { |
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| 275 | return m_totalForce; |
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| 276 | }; |
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| 277 | |
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| 278 | const btVector3& getTotalTorque() |
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| 279 | { |
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| 280 | return m_totalTorque; |
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| 281 | }; |
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[1963] | 282 | |
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[2882] | 283 | const btVector3& getInvInertiaDiagLocal() const |
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[1963] | 284 | { |
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| 285 | return m_invInertiaLocal; |
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| 286 | }; |
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| 287 | |
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| 288 | void setInvInertiaDiagLocal(const btVector3& diagInvInertia) |
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| 289 | { |
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| 290 | m_invInertiaLocal = diagInvInertia; |
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| 291 | } |
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| 292 | |
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| 293 | void setSleepingThresholds(btScalar linear,btScalar angular) |
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| 294 | { |
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| 295 | m_linearSleepingThreshold = linear; |
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| 296 | m_angularSleepingThreshold = angular; |
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| 297 | } |
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| 298 | |
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| 299 | void applyTorque(const btVector3& torque) |
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| 300 | { |
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[7983] | 301 | m_totalTorque += torque*m_angularFactor; |
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[1963] | 302 | } |
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| 303 | |
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| 304 | void applyForce(const btVector3& force, const btVector3& rel_pos) |
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| 305 | { |
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| 306 | applyCentralForce(force); |
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[7983] | 307 | applyTorque(rel_pos.cross(force*m_linearFactor)); |
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[1963] | 308 | } |
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| 309 | |
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| 310 | void applyCentralImpulse(const btVector3& impulse) |
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| 311 | { |
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[7983] | 312 | m_linearVelocity += impulse *m_linearFactor * m_inverseMass; |
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[1963] | 313 | } |
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| 314 | |
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| 315 | void applyTorqueImpulse(const btVector3& torque) |
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| 316 | { |
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[7983] | 317 | m_angularVelocity += m_invInertiaTensorWorld * torque * m_angularFactor; |
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[1963] | 318 | } |
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| 319 | |
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| 320 | void applyImpulse(const btVector3& impulse, const btVector3& rel_pos) |
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| 321 | { |
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| 322 | if (m_inverseMass != btScalar(0.)) |
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| 323 | { |
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| 324 | applyCentralImpulse(impulse); |
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| 325 | if (m_angularFactor) |
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| 326 | { |
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[7983] | 327 | applyTorqueImpulse(rel_pos.cross(impulse*m_linearFactor)); |
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[1963] | 328 | } |
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| 329 | } |
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| 330 | } |
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| 331 | |
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| 332 | void clearForces() |
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| 333 | { |
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| 334 | m_totalForce.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0)); |
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| 335 | m_totalTorque.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0)); |
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| 336 | } |
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| 337 | |
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| 338 | void updateInertiaTensor(); |
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| 339 | |
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[2430] | 340 | const btVector3& getCenterOfMassPosition() const { |
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[1963] | 341 | return m_worldTransform.getOrigin(); |
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| 342 | } |
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| 343 | btQuaternion getOrientation() const; |
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| 344 | |
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| 345 | const btTransform& getCenterOfMassTransform() const { |
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| 346 | return m_worldTransform; |
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| 347 | } |
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| 348 | const btVector3& getLinearVelocity() const { |
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| 349 | return m_linearVelocity; |
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| 350 | } |
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| 351 | const btVector3& getAngularVelocity() const { |
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| 352 | return m_angularVelocity; |
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| 353 | } |
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| 354 | |
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| 355 | |
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| 356 | inline void setLinearVelocity(const btVector3& lin_vel) |
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| 357 | { |
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| 358 | m_linearVelocity = lin_vel; |
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| 359 | } |
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| 360 | |
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[2430] | 361 | inline void setAngularVelocity(const btVector3& ang_vel) |
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| 362 | { |
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| 363 | m_angularVelocity = ang_vel; |
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[1963] | 364 | } |
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| 365 | |
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| 366 | btVector3 getVelocityInLocalPoint(const btVector3& rel_pos) const |
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| 367 | { |
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| 368 | //we also calculate lin/ang velocity for kinematic objects |
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| 369 | return m_linearVelocity + m_angularVelocity.cross(rel_pos); |
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| 370 | |
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| 371 | //for kinematic objects, we could also use use: |
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| 372 | // return (m_worldTransform(rel_pos) - m_interpolationWorldTransform(rel_pos)) / m_kinematicTimeStep; |
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| 373 | } |
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| 374 | |
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| 375 | void translate(const btVector3& v) |
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| 376 | { |
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| 377 | m_worldTransform.getOrigin() += v; |
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| 378 | } |
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| 379 | |
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| 380 | |
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| 381 | void getAabb(btVector3& aabbMin,btVector3& aabbMax) const; |
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| 382 | |
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| 383 | |
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| 384 | |
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| 385 | |
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| 386 | |
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[2430] | 387 | SIMD_FORCE_INLINE btScalar computeImpulseDenominator(const btVector3& pos, const btVector3& normal) const |
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[1963] | 388 | { |
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| 389 | btVector3 r0 = pos - getCenterOfMassPosition(); |
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| 390 | |
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| 391 | btVector3 c0 = (r0).cross(normal); |
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| 392 | |
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| 393 | btVector3 vec = (c0 * getInvInertiaTensorWorld()).cross(r0); |
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| 394 | |
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| 395 | return m_inverseMass + normal.dot(vec); |
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| 396 | |
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| 397 | } |
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| 398 | |
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| 399 | SIMD_FORCE_INLINE btScalar computeAngularImpulseDenominator(const btVector3& axis) const |
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| 400 | { |
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| 401 | btVector3 vec = axis * getInvInertiaTensorWorld(); |
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| 402 | return axis.dot(vec); |
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| 403 | } |
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| 404 | |
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| 405 | SIMD_FORCE_INLINE void updateDeactivation(btScalar timeStep) |
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| 406 | { |
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| 407 | if ( (getActivationState() == ISLAND_SLEEPING) || (getActivationState() == DISABLE_DEACTIVATION)) |
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| 408 | return; |
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| 409 | |
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| 410 | if ((getLinearVelocity().length2() < m_linearSleepingThreshold*m_linearSleepingThreshold) && |
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| 411 | (getAngularVelocity().length2() < m_angularSleepingThreshold*m_angularSleepingThreshold)) |
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| 412 | { |
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| 413 | m_deactivationTime += timeStep; |
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| 414 | } else |
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| 415 | { |
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| 416 | m_deactivationTime=btScalar(0.); |
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| 417 | setActivationState(0); |
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| 418 | } |
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| 419 | |
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| 420 | } |
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| 421 | |
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| 422 | SIMD_FORCE_INLINE bool wantsSleeping() |
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| 423 | { |
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| 424 | |
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| 425 | if (getActivationState() == DISABLE_DEACTIVATION) |
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| 426 | return false; |
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| 427 | |
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| 428 | //disable deactivation |
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| 429 | if (gDisableDeactivation || (gDeactivationTime == btScalar(0.))) |
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| 430 | return false; |
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| 431 | |
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| 432 | if ( (getActivationState() == ISLAND_SLEEPING) || (getActivationState() == WANTS_DEACTIVATION)) |
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| 433 | return true; |
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| 434 | |
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| 435 | if (m_deactivationTime> gDeactivationTime) |
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| 436 | { |
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| 437 | return true; |
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| 438 | } |
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| 439 | return false; |
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| 440 | } |
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| 441 | |
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| 442 | |
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| 443 | |
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| 444 | const btBroadphaseProxy* getBroadphaseProxy() const |
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| 445 | { |
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| 446 | return m_broadphaseHandle; |
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| 447 | } |
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| 448 | btBroadphaseProxy* getBroadphaseProxy() |
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| 449 | { |
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| 450 | return m_broadphaseHandle; |
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| 451 | } |
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| 452 | void setNewBroadphaseProxy(btBroadphaseProxy* broadphaseProxy) |
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| 453 | { |
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| 454 | m_broadphaseHandle = broadphaseProxy; |
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| 455 | } |
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| 456 | |
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| 457 | //btMotionState allows to automatic synchronize the world transform for active objects |
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| 458 | btMotionState* getMotionState() |
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| 459 | { |
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| 460 | return m_optionalMotionState; |
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| 461 | } |
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| 462 | const btMotionState* getMotionState() const |
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| 463 | { |
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| 464 | return m_optionalMotionState; |
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| 465 | } |
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| 466 | void setMotionState(btMotionState* motionState) |
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| 467 | { |
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| 468 | m_optionalMotionState = motionState; |
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| 469 | if (m_optionalMotionState) |
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| 470 | motionState->getWorldTransform(m_worldTransform); |
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| 471 | } |
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| 472 | |
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| 473 | //for experimental overriding of friction/contact solver func |
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| 474 | int m_contactSolverType; |
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| 475 | int m_frictionSolverType; |
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| 476 | |
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[7983] | 477 | void setAngularFactor(const btVector3& angFac) |
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[1963] | 478 | { |
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| 479 | m_angularFactor = angFac; |
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| 480 | } |
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[7983] | 481 | |
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| 482 | void setAngularFactor(btScalar angFac) |
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[1963] | 483 | { |
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[7983] | 484 | m_angularFactor.setValue(angFac,angFac,angFac); |
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| 485 | } |
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| 486 | const btVector3& getAngularFactor() const |
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| 487 | { |
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[1963] | 488 | return m_angularFactor; |
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| 489 | } |
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| 490 | |
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| 491 | //is this rigidbody added to a btCollisionWorld/btDynamicsWorld/btBroadphase? |
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| 492 | bool isInWorld() const |
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| 493 | { |
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| 494 | return (getBroadphaseProxy() != 0); |
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| 495 | } |
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| 496 | |
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| 497 | virtual bool checkCollideWithOverride(btCollisionObject* co); |
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| 498 | |
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| 499 | void addConstraintRef(btTypedConstraint* c); |
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| 500 | void removeConstraintRef(btTypedConstraint* c); |
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| 501 | |
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| 502 | btTypedConstraint* getConstraintRef(int index) |
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| 503 | { |
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| 504 | return m_constraintRefs[index]; |
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| 505 | } |
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| 506 | |
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| 507 | int getNumConstraintRefs() |
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| 508 | { |
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| 509 | return m_constraintRefs.size(); |
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| 510 | } |
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| 511 | |
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[7983] | 512 | void setFlags(int flags) |
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| 513 | { |
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| 514 | m_rigidbodyFlags = flags; |
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| 515 | } |
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| 516 | |
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| 517 | int getFlags() const |
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| 518 | { |
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| 519 | return m_rigidbodyFlags; |
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| 520 | } |
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| 521 | |
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| 522 | const btVector3& getDeltaLinearVelocity() const |
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| 523 | { |
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| 524 | return m_deltaLinearVelocity; |
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| 525 | } |
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| 526 | |
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| 527 | const btVector3& getDeltaAngularVelocity() const |
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| 528 | { |
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| 529 | return m_deltaAngularVelocity; |
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| 530 | } |
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| 531 | |
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| 532 | const btVector3& getPushVelocity() const |
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| 533 | { |
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| 534 | return m_pushVelocity; |
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| 535 | } |
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| 536 | |
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| 537 | const btVector3& getTurnVelocity() const |
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| 538 | { |
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| 539 | return m_turnVelocity; |
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| 540 | } |
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| 541 | |
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| 542 | |
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| 543 | //////////////////////////////////////////////// |
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| 544 | ///some internal methods, don't use them |
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| 545 | |
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| 546 | btVector3& internalGetDeltaLinearVelocity() |
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| 547 | { |
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| 548 | return m_deltaLinearVelocity; |
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| 549 | } |
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| 550 | |
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| 551 | btVector3& internalGetDeltaAngularVelocity() |
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| 552 | { |
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| 553 | return m_deltaAngularVelocity; |
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| 554 | } |
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| 555 | |
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| 556 | const btVector3& internalGetAngularFactor() const |
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| 557 | { |
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| 558 | return m_angularFactor; |
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| 559 | } |
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| 560 | |
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| 561 | const btVector3& internalGetInvMass() const |
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| 562 | { |
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| 563 | return m_invMass; |
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| 564 | } |
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| 565 | |
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| 566 | btVector3& internalGetPushVelocity() |
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| 567 | { |
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| 568 | return m_pushVelocity; |
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| 569 | } |
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| 570 | |
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| 571 | btVector3& internalGetTurnVelocity() |
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| 572 | { |
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| 573 | return m_turnVelocity; |
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| 574 | } |
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| 575 | |
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| 576 | SIMD_FORCE_INLINE void internalGetVelocityInLocalPointObsolete(const btVector3& rel_pos, btVector3& velocity ) const |
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| 577 | { |
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| 578 | velocity = getLinearVelocity()+m_deltaLinearVelocity + (getAngularVelocity()+m_deltaAngularVelocity).cross(rel_pos); |
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| 579 | } |
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| 580 | |
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| 581 | SIMD_FORCE_INLINE void internalGetAngularVelocity(btVector3& angVel) const |
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| 582 | { |
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| 583 | angVel = getAngularVelocity()+m_deltaAngularVelocity; |
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| 584 | } |
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| 585 | |
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| 586 | |
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| 587 | //Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position |
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| 588 | SIMD_FORCE_INLINE void internalApplyImpulse(const btVector3& linearComponent, const btVector3& angularComponent,const btScalar impulseMagnitude) |
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| 589 | { |
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| 590 | if (m_inverseMass) |
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| 591 | { |
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| 592 | m_deltaLinearVelocity += linearComponent*impulseMagnitude; |
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| 593 | m_deltaAngularVelocity += angularComponent*(impulseMagnitude*m_angularFactor); |
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| 594 | } |
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| 595 | } |
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| 596 | |
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| 597 | SIMD_FORCE_INLINE void internalApplyPushImpulse(const btVector3& linearComponent, const btVector3& angularComponent,btScalar impulseMagnitude) |
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| 598 | { |
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| 599 | if (m_inverseMass) |
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| 600 | { |
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| 601 | m_pushVelocity += linearComponent*impulseMagnitude; |
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| 602 | m_turnVelocity += angularComponent*(impulseMagnitude*m_angularFactor); |
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| 603 | } |
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| 604 | } |
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| 605 | |
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| 606 | void internalWritebackVelocity() |
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| 607 | { |
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| 608 | if (m_inverseMass) |
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| 609 | { |
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| 610 | setLinearVelocity(getLinearVelocity()+ m_deltaLinearVelocity); |
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| 611 | setAngularVelocity(getAngularVelocity()+m_deltaAngularVelocity); |
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| 612 | //m_deltaLinearVelocity.setZero(); |
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| 613 | //m_deltaAngularVelocity .setZero(); |
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| 614 | //m_originalBody->setCompanionId(-1); |
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| 615 | } |
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| 616 | } |
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| 617 | |
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| 618 | |
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| 619 | void internalWritebackVelocity(btScalar timeStep); |
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| 620 | |
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| 621 | |
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| 622 | /////////////////////////////////////////////// |
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| 623 | |
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| 624 | virtual int calculateSerializeBufferSize() const; |
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| 625 | |
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| 626 | ///fills the dataBuffer and returns the struct name (and 0 on failure) |
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| 627 | virtual const char* serialize(void* dataBuffer, class btSerializer* serializer) const; |
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| 628 | |
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| 629 | virtual void serializeSingleObject(class btSerializer* serializer) const; |
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| 630 | |
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[1963] | 631 | }; |
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| 632 | |
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[7983] | 633 | //@todo add m_optionalMotionState and m_constraintRefs to btRigidBodyData |
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| 634 | ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 |
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| 635 | struct btRigidBodyFloatData |
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| 636 | { |
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| 637 | btCollisionObjectFloatData m_collisionObjectData; |
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| 638 | btMatrix3x3FloatData m_invInertiaTensorWorld; |
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| 639 | btVector3FloatData m_linearVelocity; |
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| 640 | btVector3FloatData m_angularVelocity; |
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| 641 | btVector3FloatData m_angularFactor; |
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| 642 | btVector3FloatData m_linearFactor; |
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| 643 | btVector3FloatData m_gravity; |
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| 644 | btVector3FloatData m_gravity_acceleration; |
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| 645 | btVector3FloatData m_invInertiaLocal; |
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| 646 | btVector3FloatData m_totalForce; |
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| 647 | btVector3FloatData m_totalTorque; |
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| 648 | float m_inverseMass; |
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| 649 | float m_linearDamping; |
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| 650 | float m_angularDamping; |
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| 651 | float m_additionalDampingFactor; |
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| 652 | float m_additionalLinearDampingThresholdSqr; |
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| 653 | float m_additionalAngularDampingThresholdSqr; |
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| 654 | float m_additionalAngularDampingFactor; |
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| 655 | float m_linearSleepingThreshold; |
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| 656 | float m_angularSleepingThreshold; |
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| 657 | int m_additionalDamping; |
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| 658 | }; |
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[1963] | 659 | |
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[7983] | 660 | ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 |
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| 661 | struct btRigidBodyDoubleData |
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| 662 | { |
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| 663 | btCollisionObjectDoubleData m_collisionObjectData; |
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| 664 | btMatrix3x3DoubleData m_invInertiaTensorWorld; |
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| 665 | btVector3DoubleData m_linearVelocity; |
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| 666 | btVector3DoubleData m_angularVelocity; |
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| 667 | btVector3DoubleData m_angularFactor; |
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| 668 | btVector3DoubleData m_linearFactor; |
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| 669 | btVector3DoubleData m_gravity; |
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| 670 | btVector3DoubleData m_gravity_acceleration; |
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| 671 | btVector3DoubleData m_invInertiaLocal; |
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| 672 | btVector3DoubleData m_totalForce; |
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| 673 | btVector3DoubleData m_totalTorque; |
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| 674 | double m_inverseMass; |
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| 675 | double m_linearDamping; |
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| 676 | double m_angularDamping; |
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| 677 | double m_additionalDampingFactor; |
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| 678 | double m_additionalLinearDampingThresholdSqr; |
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| 679 | double m_additionalAngularDampingThresholdSqr; |
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| 680 | double m_additionalAngularDampingFactor; |
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| 681 | double m_linearSleepingThreshold; |
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| 682 | double m_angularSleepingThreshold; |
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| 683 | int m_additionalDamping; |
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| 684 | char m_padding[4]; |
---|
| 685 | }; |
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[1963] | 686 | |
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[7983] | 687 | |
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| 688 | |
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[1963] | 689 | #endif |
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| 690 | |
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