Changeset 2430 for code/branches/physics/src/bullet/BulletDynamics/Dynamics

Timestamp:

Dec 13, 2008, 11:45:51 PM (16 years ago)

Author:

rgrieder

Message:

Updated to Bullet 2.73 (first part).

Location:

code/branches/physics/src/bullet/BulletDynamics/Dynamics

Files:

• Bullet-C-API.cpp (modified) (2 diffs)
• btDiscreteDynamicsWorld.cpp (modified) (19 diffs)
• btDiscreteDynamicsWorld.h (modified) (8 diffs)
• btDynamicsWorld.h (modified) (2 diffs)
• btRigidBody.h (modified) (6 diffs)
• btSimpleDynamicsWorld.cpp (modified) (3 diffs)
• btSimpleDynamicsWorld.h (modified) (2 diffs)

code/branches/physics/src/bullet/BulletDynamics/Dynamics/Bullet-C-API.cpp

@@ -39 +39 @@
 #include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
 #include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
-#include "BulletCollision/NarrowPhaseCollision/btGjkEpa.h"
+#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
 #include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h"
 #include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
@@ -256 +256 @@
         btAssert(colShape->getShapeType()==CONVEX_HULL_SHAPE_PROXYTYPE);
         btConvexHullShape* convexHullShape = reinterpret_cast<btConvexHullShape*>( cshape);
-        convexHullShape->addPoint(btPoint3(x,y,z));
+        convexHullShape->addPoint(btVector3(x,y,z));
 
 }

code/branches/physics/src/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp

@@ -52 +52 @@
 #include "BulletDynamics/Vehicle/btVehicleRaycaster.h"
 #include "BulletDynamics/Vehicle/btWheelInfo.h"
+//character
+#include "BulletDynamics/Character/btCharacterControllerInterface.h"
+
 #include "LinearMath/btIDebugDraw.h"
 #include "LinearMath/btQuickprof.h"
@@ -126 +129 @@
 void    btDiscreteDynamicsWorld::debugDrawWorld()
 {
+        BT_PROFILE("debugDrawWorld");
 
         if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints)
@@ -151 +155 @@
                 int i;
 
-                //todo: iterate over awake simulation islands!
                 for (  i=0;i<m_collisionObjects.size();i++)
                 {
@@ -180 +183 @@
                         if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
                         {
-                                btPoint3 minAabb,maxAabb;
+                                btVector3 minAabb,maxAabb;
                                 btVector3 colorvec(1,0,0);
                                 colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
@@ -221 +224 @@
 void    btDiscreteDynamicsWorld::clearForces()
 {
-        //todo: iterate over awake simulation islands!
+        ///@todo: iterate over awake simulation islands!
         for ( int i=0;i<m_collisionObjects.size();i++)
         {
@@ -237 +240 @@
 void    btDiscreteDynamicsWorld::applyGravity()
 {
-        //todo: iterate over awake simulation islands!
+        ///@todo: iterate over awake simulation islands!
         for ( int i=0;i<m_collisionObjects.size();i++)
         {
@@ -251 +254 @@
 
 
+void    btDiscreteDynamicsWorld::synchronizeSingleMotionState(btRigidBody* body)
+{
+        btAssert(body);
+
+        if (body->getMotionState() && !body->isStaticOrKinematicObject())
+        {
+                //we need to call the update at least once, even for sleeping objects
+                //otherwise the 'graphics' transform never updates properly
+                ///@todo: add 'dirty' flag
+                //if (body->getActivationState() != ISLAND_SLEEPING)
+                {
+                        btTransform interpolatedTransform;
+                        btTransformUtil::integrateTransform(body->getInterpolationWorldTransform(),
+                                body->getInterpolationLinearVelocity(),body->getInterpolationAngularVelocity(),m_localTime*body->getHitFraction(),interpolatedTransform);
+                        body->getMotionState()->setWorldTransform(interpolatedTransform);
+                }
+        }
+}
+
 
 void    btDiscreteDynamicsWorld::synchronizeMotionStates()
 {
+        BT_PROFILE("synchronizeMotionStates");
         {
                 //todo: iterate over awake simulation islands!
@@ -261 +284 @@
                         
                         btRigidBody* body = btRigidBody::upcast(colObj);
-                        if (body && body->getMotionState() && !body->isStaticOrKinematicObject())
-                        {
-                                //we need to call the update at least once, even for sleeping objects
-                                //otherwise the 'graphics' transform never updates properly
-                                //so todo: add 'dirty' flag
-                                //if (body->getActivationState() != ISLAND_SLEEPING)
-                                {
-                                        btTransform interpolatedTransform;
-                                        btTransformUtil::integrateTransform(body->getInterpolationWorldTransform(),
-                                                body->getInterpolationLinearVelocity(),body->getInterpolationAngularVelocity(),m_localTime*body->getHitFraction(),interpolatedTransform);
-                                        body->getMotionState()->setWorldTransform(interpolatedTransform);
-                                }
-                        }
+                        if (body)
+                                synchronizeSingleMotionState(body);
                 }
         }
@@ -393 +405 @@
         ///update vehicle simulation
         updateVehicles(timeStep);
-
+        
+        updateCharacters(timeStep);
 
         updateActivationState( timeStep );
@@ -469 +482 @@
 }
 
+void    btDiscreteDynamicsWorld::updateCharacters(btScalar timeStep)
+{
+        BT_PROFILE("updateCharacters");
+        
+        for ( int i=0;i<m_characters.size();i++)
+        {
+                btCharacterControllerInterface* character = m_characters[i];
+                character->preStep (this);
+                character->playerStep (this,timeStep);
+        }
+}
+
+        
+        
 void    btDiscreteDynamicsWorld::updateActivationState(btScalar timeStep)
 {
@@ -532 +559 @@
         m_vehicles.remove(vehicle);
 }
+
+void    btDiscreteDynamicsWorld::addCharacter(btCharacterControllerInterface* character)
+{
+        m_characters.push_back(character);
+}
+
+void    btDiscreteDynamicsWorld::removeCharacter(btCharacterControllerInterface* character)
+{
+        m_characters.remove(character);
+}
+
 
 SIMD_FORCE_INLINE       int     btGetConstraintIslandId(const btTypedConstraint* lhs)
@@ -665 +703 @@
         
         /// solve all the constraints for this island
-        m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(),getCollisionWorld()->getCollisionObjectArray(),&solverCallback);
+        m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(),getCollisionWorld(),&solverCallback);
 
         m_constraintSolver->allSolved(solverInfo, m_debugDrawer, m_stackAlloc);
@@ -730 +768 @@
         {
                 if (convexResult.m_hitCollisionObject == m_me)
-                        return 1.0;
+                        return 1.0f;
+
+                //ignore result if there is no contact response
+                if(!convexResult.m_hitCollisionObject->hasContactResponse())
+                        return 1.0f;
 
                 btVector3 linVelA,linVelB;
@@ -751 +793 @@
 
                 ///don't do CCD when the collision filters are not matching
-                if (!btCollisionWorld::ClosestConvexResultCallback::needsCollision(proxy0))
+                if (!ClosestConvexResultCallback::needsCollision(proxy0))
                         return false;
 
@@ -808 +850 @@
                                                 btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
                                                 btSphereShape tmpSphere(body->getCcdSweptSphereRadius());//btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
+
+                                                sweepResults.m_collisionFilterGroup = body->getBroadphaseProxy()->m_collisionFilterGroup;
+                                                sweepResults.m_collisionFilterMask  = body->getBroadphaseProxy()->m_collisionFilterMask;
+
                                                 convexSweepTest(&tmpSphere,body->getWorldTransform(),predictedTrans,sweepResults);
                                                 if (sweepResults.hasHit() && (sweepResults.m_closestHitFraction < 1.f))
@@ -827 +873 @@
 
 
+
+
 void    btDiscreteDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
 {
@@ -838 +886 @@
                         if (!body->isStaticOrKinematicObject())
                         {
-                                if (body->isActive())
-                                {
-                                        body->integrateVelocities( timeStep);
-                                        //damping
-                                        body->applyDamping(timeStep);
-
-                                        body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform());
-                                }
+                                
+                                body->integrateVelocities( timeStep);
+                                //damping
+                                body->applyDamping(timeStep);
+
+                                body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform());
                         }
                 }
@@ -1097 +1143 @@
                                         btConcaveShape* concaveMesh = (btConcaveShape*) shape;
                                         
-                                        //todo pass camera, for some culling
+                                        ///@todo pass camera, for some culling? no -> we are not a graphics lib
                                         btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
                                         btVector3 aabbMin(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
@@ -1126 +1172 @@
                                         for (i=0;i<polyshape->getNumEdges();i++)
                                         {
-                                                btPoint3 a,b;
+                                                btVector3 a,b;
                                                 polyshape->getEdge(i,a,b);
                                                 btVector3 wa = worldTransform * a;

code/branches/physics/src/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h

@@ -27 +27 @@
 
 class btRaycastVehicle;
+class btCharacterControllerInterface;
 class btIDebugDraw;
 #include "LinearMath/btAlignedObjectArray.h"
@@ -43 +44 @@
         btAlignedObjectArray<btTypedConstraint*> m_constraints;
 
-
         btVector3       m_gravity;
 
@@ -55 +55 @@
         
         btAlignedObjectArray<btRaycastVehicle*> m_vehicles;
+        
+        btAlignedObjectArray<btCharacterControllerInterface*> m_characters;
+        
 
         int     m_profileTimings;
@@ -62 +65 @@
         virtual void    integrateTransforms(btScalar timeStep);
                 
-        void    calculateSimulationIslands();
+        virtual void    calculateSimulationIslands();
 
-        void    solveConstraints(btContactSolverInfo& solverInfo);
+        virtual void    solveConstraints(btContactSolverInfo& solverInfo);
         
         void    updateActivationState(btScalar timeStep);
@@ -70 +73 @@
         void    updateVehicles(btScalar timeStep);
 
+        void    updateCharacters(btScalar timeStep);
+
         void    startProfiling(btScalar timeStep);
 
         virtual void    internalSingleStepSimulation( btScalar timeStep);
 
-        void    synchronizeMotionStates();
 
-        void    saveKinematicState(btScalar timeStep);
+        virtual void    saveKinematicState(btScalar timeStep);
 
         void    debugDrawSphere(btScalar radius, const btTransform& transform, const btVector3& color);
+
 
 public:
@@ -92 +97 @@
 
 
-        void    addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false);
+        virtual void    synchronizeMotionStates();
 
-        void    removeConstraint(btTypedConstraint* constraint);
+        ///this can be useful to synchronize a single rigid body -> graphics object
+        void    synchronizeSingleMotionState(btRigidBody* body);
 
-        void    addVehicle(btRaycastVehicle* vehicle);
+        virtual void    addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false);
 
-        void    removeVehicle(btRaycastVehicle* vehicle);
+        virtual void    removeConstraint(btTypedConstraint* constraint);
+
+        virtual void    addVehicle(btRaycastVehicle* vehicle);
+
+        virtual void    removeVehicle(btRaycastVehicle* vehicle);
+        
+        virtual void    addCharacter(btCharacterControllerInterface* character);
+
+        virtual void    removeCharacter(btCharacterControllerInterface* character);
+                
 
         btSimulationIslandManager*      getSimulationIslandManager()
@@ -114 +129 @@
                 return this;
         }
-
 
         virtual void    setGravity(const btVector3& gravity);
@@ -153 +167 @@
         virtual void    setNumTasks(int numTasks)
         {
+        (void) numTasks;
         }
 

code/branches/physics/src/bullet/BulletDynamics/Dynamics/btDynamicsWorld.h

@@ -24 +24 @@
 class btConstraintSolver;
 class btDynamicsWorld;
+class btCharacterControllerInterface;
 
 /// Type for the callback for each tick
@@ -76 +77 @@
                 virtual void    removeVehicle(btRaycastVehicle* vehicle) {(void)vehicle;}
 
+                virtual void    addCharacter(btCharacterControllerInterface* character) {(void)character;}
+
+                virtual void    removeCharacter(btCharacterControllerInterface* character) {(void)character;}
+
+
                 //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;

code/branches/physics/src/bullet/BulletDynamics/Dynamics/btRigidBody.h

@@ -18 +18 @@
 
 #include "LinearMath/btAlignedObjectArray.h"
-#include "LinearMath/btPoint3.h"
 #include "LinearMath/btTransform.h"
 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
@@ -32 +31 @@
 
 
-///btRigidBody is the main class for rigid body objects. It is derived from btCollisionObject, so it keeps a pointer to a btCollisionShape.
+///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: 
@@ -76 +75 @@
 
 
-        ///btRigidBodyConstructionInfo provides information to create a rigid body. Setting mass to zero creates a fixed (non-dynamic) rigid body.
+        ///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. 
@@ -304 +303 @@
         void updateInertiaTensor();    
         
-        const btPoint3&     getCenterOfMassPosition() const { 
+        const btVector3&     getCenterOfMassPosition() const { 
                 return m_worldTransform.getOrigin(); 
         }
@@ -322 +321 @@
         inline void setLinearVelocity(const btVector3& lin_vel)
         { 
-                assert (m_collisionFlags != btCollisionObject::CF_STATIC_OBJECT);
                 m_linearVelocity = lin_vel; 
         }
 
-        inline void setAngularVelocity(const btVector3& ang_vel) { 
-                assert (m_collisionFlags != btCollisionObject::CF_STATIC_OBJECT);
-                {
-                        m_angularVelocity = ang_vel; 
-                }
+        inline void setAngularVelocity(const btVector3& ang_vel) 
+        { 
+                m_angularVelocity = ang_vel; 
         }
 
@@ -354 +350 @@
 
         
-        SIMD_FORCE_INLINE btScalar computeImpulseDenominator(const btPoint3& pos, const btVector3& normal) const
+        SIMD_FORCE_INLINE btScalar computeImpulseDenominator(const btVector3& pos, const btVector3& normal) const
         {
                 btVector3 r0 = pos - getCenterOfMassPosition();

code/branches/physics/src/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp

@@ -98 +98 @@
 void    btSimpleDynamicsWorld::clearForces()
 {
-        //todo: iterate over awake simulation islands!
+        ///@todo: iterate over awake simulation islands!
         for ( int i=0;i<m_collisionObjects.size();i++)
         {
@@ -157 +157 @@
                         if (body->isActive() && (!body->isStaticObject()))
                         {
-                                btPoint3 minAabb,maxAabb;
+                                btVector3 minAabb,maxAabb;
                                 colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
                                 btBroadphaseInterface* bp = getBroadphase();
@@ -211 +211 @@
 void    btSimpleDynamicsWorld::synchronizeMotionStates()
 {
-        //todo: iterate over awake simulation islands!
+        ///@todo: iterate over awake simulation islands!
         for ( int i=0;i<m_collisionObjects.size();i++)
         {

code/branches/physics/src/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h

@@ -23 +23 @@
 class btConstraintSolver;
 
-///btSimpleDynamicsWorld serves as unit-test and to verify more complicated and optimized dynamics worlds.
+///The btSimpleDynamicsWorld serves as unit-test and to verify more complicated and optimized dynamics worlds.
 ///Please use btDiscreteDynamicsWorld instead (or btContinuousDynamicsWorld once it is finished).
 class btSimpleDynamicsWorld : public btDynamicsWorld
@@ -61 +61 @@
         virtual void    updateAabbs();
 
-        void    synchronizeMotionStates();
+        virtual void    synchronizeMotionStates();
 
         virtual void    setConstraintSolver(btConstraintSolver* solver);