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improved deactivation, exposed more tweakable parameters to python,

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fixed some copy/paste bug in inertia/inverse inertia.
colors in deactivation debug
This commit is contained in:
Erwin Coumans
2005-08-04 19:07:39 +00:00
parent b12f801681
commit 210ab537ce
27 changed files with 548 additions and 180 deletions
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37
source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
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@@ -8,7 +8,7 @@
class BP_Proxy;
//'temporarily' global variables
float gDeactivationTime = 0.f;
float gDeactivationTime = 2.f;
float gLinearSleepingTreshold = 0.8f;
float gAngularSleepingTreshold = 1.0f;
@@ -19,8 +19,7 @@ CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci)
{
m_collisionDelay = 0;
m_sleepingCounter = 0;
m_MotionState = ci.m_MotionState;
@@ -195,6 +194,23 @@ void CcdPhysicsController::setNewClientInfo(void* clientinfo)
}
void CcdPhysicsController::UpdateDeactivation(float timeStep)
{
if ( (m_body->GetActivationState() == 2))
return;
if ((m_body->getLinearVelocity().length2() < gLinearSleepingTreshold*gLinearSleepingTreshold) &&
(m_body->getAngularVelocity().length2() < gAngularSleepingTreshold*gAngularSleepingTreshold))
{
m_body->m_deactivationTime += timeStep;
} else
{
m_body->m_deactivationTime=0.f;
m_body->SetActivationState(0);
}
}
bool CcdPhysicsController::wantsSleeping()
{
@@ -202,20 +218,11 @@ bool CcdPhysicsController::wantsSleeping()
//disable deactivation
if (gDeactivationTime == 0.f)
return false;
if ( (m_body->GetActivationState() == 3) || (m_body->GetActivationState() == 2))
//2 == ISLAND_SLEEPING, 3 == WANTS_DEACTIVATION
if ( (m_body->GetActivationState() == 2) || (m_body->GetActivationState() == 3))
return true;
if ((m_body->getLinearVelocity().length2() < gLinearSleepingTreshold*gLinearSleepingTreshold) &&
(m_body->getAngularVelocity().length2() < gAngularSleepingTreshold*gAngularSleepingTreshold))
{
m_sleepingCounter++;
} else
{
m_sleepingCounter=0;
}
if (m_sleepingCounter> gDeactivationTime)
if (m_body->m_deactivationTime> gDeactivationTime)
{
return true;
}