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Bullet physics: fixed some accuracy problem (square length should be compared to square epsilons), and more collision sensor work + deactivation issues

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This commit is contained in:
Erwin Coumans
2006-04-17 06:27:57 +00:00
parent 971ee74c84
commit 904a0792f7
14 changed files with 123 additions and 71 deletions
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25
extern/bullet/Bullet/CollisionDispatch/CollisionDispatcher.cpp vendored
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@@ -33,13 +33,20 @@ void CollisionDispatcher::FindUnions()
{
const PersistentManifold* manifold = this->GetManifoldByIndexInternal(i);
//static objects (invmass 0.f) don't merge !
if ((((CollisionObject*)manifold->GetBody0()) && (((CollisionObject*)manifold->GetBody0())->mergesSimulationIslands())) &&
(((CollisionObject*)manifold->GetBody1()) && (((CollisionObject*)manifold->GetBody1())->mergesSimulationIslands())))
{
m_unionFind.unite(((CollisionObject*)manifold->GetBody0())->m_islandTag1,
((CollisionObject*)manifold->GetBody1())->m_islandTag1);
}
const CollisionObject* colObj0 = static_cast<const CollisionObject*>(manifold->GetBody0());
const CollisionObject* colObj1 = static_cast<const CollisionObject*>(manifold->GetBody1());
if (colObj0 && colObj1 && NeedsResponse(*colObj0,*colObj1))
{
if (((colObj0) && ((colObj0)->mergesSimulationIslands())) &&
((colObj1) && ((colObj1)->mergesSimulationIslands())))
{
m_unionFind.unite((colObj0)->m_islandTag1,
(colObj1)->m_islandTag1);
}
}
}
@@ -119,7 +126,7 @@ void CollisionDispatcher::BuildAndProcessIslands(int numBodies, IslandCallback*
CollisionObject* colObj0 = static_cast<CollisionObject*>(manifold->GetBody0());
CollisionObject* colObj1 = static_cast<CollisionObject*>(manifold->GetBody1());
if (NeedsResponse(*colObj0,*colObj1))
{
if (((colObj0) && (colObj0)->m_islandTag1 == (islandId)) ||
((colObj1) && (colObj1)->m_islandTag1 == (islandId)))
@@ -224,11 +231,11 @@ CollisionAlgorithm* CollisionDispatcher::InternalFindAlgorithm(BroadphaseProxy&
}
bool CollisionDispatcher::NeedsResponse(CollisionObject& colObj0,CollisionObject& colObj1)
bool CollisionDispatcher::NeedsResponse(const CollisionObject& colObj0,const CollisionObject& colObj1)
{
//here you can do filtering
bool hasResponse =
(!(colObj0.m_collisionFlags & CollisionObject::noContactResponse)) &
(!(colObj0.m_collisionFlags & CollisionObject::noContactResponse)) &&
(!(colObj1.m_collisionFlags & CollisionObject::noContactResponse));
return hasResponse;
}

2
extern/bullet/Bullet/CollisionDispatch/CollisionDispatcher.h vendored
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@@ -124,7 +124,7 @@ public:
virtual bool NeedsCollision(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1);
virtual bool NeedsResponse(CollisionObject& colObj0,CollisionObject& colObj1);
virtual bool NeedsResponse(const CollisionObject& colObj0,const CollisionObject& colObj1);
virtual int GetUniqueId() { return RIGIDBODY_DISPATCHER;}

3
extern/bullet/Bullet/CollisionDispatch/CollisionObject.cpp vendored
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@@ -40,8 +40,11 @@ void CollisionObject::ForceActivationState(int newState)
void CollisionObject::activate()
{
if (!(m_collisionFlags & isStatic))
{
SetActivationState(1);
m_deactivationTime = 0.f;
}
}
bool CollisionObject::mergesSimulationIslands() const

2
extern/bullet/Bullet/CollisionDispatch/ConvexConvexAlgorithm.cpp vendored
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@@ -333,7 +333,7 @@ void ConvexConvexAlgorithm ::ProcessCollision (BroadphaseProxy* ,BroadphaseProxy
input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
}
input.m_maximumDistanceSquared = 1e30;//
input.m_maximumDistanceSquared = 1e30f;//
input.m_transformA = col0->m_worldTransform;
input.m_transformB = col1->m_worldTransform;

2
extern/bullet/Bullet/CollisionShapes/BoxShape.h vendored
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@@ -59,7 +59,7 @@ public:
if ( GetMargin()!=0.f )
{
SimdVector3 vecnorm = vec;
if (vecnorm .length2() == 0.f)
if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
{
vecnorm.setValue(-1.f,-1.f,-1.f);
}

2
extern/bullet/Bullet/CollisionShapes/ConeShape.cpp vendored
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@@ -87,7 +87,7 @@ SimdVector3 ConeShape::LocalGetSupportingVertex(const SimdVector3& vec) const
if ( GetMargin()!=0.f )
{
SimdVector3 vecnorm = vec;
if (vecnorm .length2() == 0.f)
if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
{
vecnorm.setValue(-1.f,-1.f,-1.f);
}

2
extern/bullet/Bullet/CollisionShapes/ConvexHullShape.cpp vendored
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@@ -97,7 +97,7 @@ SimdVector3 ConvexHullShape::LocalGetSupportingVertex(const SimdVector3& vec)con
if ( GetMargin()!=0.f )
{
SimdVector3 vecnorm = vec;
if (vecnorm .length2() == 0.f)
if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
{
vecnorm.setValue(-1.f,-1.f,-1.f);
}

2
extern/bullet/Bullet/CollisionShapes/ConvexShape.cpp vendored
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@@ -60,7 +60,7 @@ SimdVector3 ConvexShape::LocalGetSupportingVertex(const SimdVector3& vec)const
if ( GetMargin()!=0.f )
{
SimdVector3 vecnorm = vec;
if (vecnorm .length2() == 0.f)
if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
{
vecnorm.setValue(-1.f,-1.f,-1.f);
}

2
extern/bullet/Bullet/CollisionShapes/CylinderShape.h vendored
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@@ -45,7 +45,7 @@ public:
if ( GetMargin()!=0.f )
{
SimdVector3 vecnorm = vec;
if (vecnorm .length2() == 0.f)
if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
{
vecnorm.setValue(-1.f,-1.f,-1.f);
}

2
extern/bullet/Bullet/CollisionShapes/SphereShape.cpp vendored
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@@ -44,7 +44,7 @@ SimdVector3 SphereShape::LocalGetSupportingVertex(const SimdVector3& vec)const
supVertex = LocalGetSupportingVertexWithoutMargin(vec);
SimdVector3 vecnorm = vec;
if (SimdFuzzyZero(vecnorm .length2()))
if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
{
vecnorm.setValue(-1.f,-1.f,-1.f);
}

62
extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp vendored
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@@ -195,16 +195,21 @@ void CcdPhysicsController::PostProcessReplica(class PHY_IMotionState* motionsta
// kinematic methods
void CcdPhysicsController::RelativeTranslate(float dlocX,float dlocY,float dlocZ,bool local)
{
SimdVector3 dloc(dlocX,dlocY,dlocZ);
SimdTransform xform = m_body->getCenterOfMassTransform();
if (local)
if (m_body)
{
dloc = xform.getBasis()*dloc;
}
m_body->activate();
xform.setOrigin(xform.getOrigin() + dloc);
this->m_body->setCenterOfMassTransform(xform);
SimdVector3 dloc(dlocX,dlocY,dlocZ);
SimdTransform xform = m_body->getCenterOfMassTransform();
if (local)
{
dloc = xform.getBasis()*dloc;
}
xform.setOrigin(xform.getOrigin() + dloc);
m_body->setCenterOfMassTransform(xform);
}
}
@@ -212,6 +217,8 @@ void CcdPhysicsController::RelativeRotate(const float rotval[9],bool local)
{
if (m_body )
{
m_body->activate();
SimdMatrix3x3 drotmat( rotval[0],rotval[1],rotval[2],
rotval[4],rotval[5],rotval[6],
rotval[8],rotval[9],rotval[10]);
@@ -319,34 +326,47 @@ void CcdPhysicsController::ApplyForce(float forceX,float forceY,float forceZ,bo
void CcdPhysicsController::SetAngularVelocity(float ang_velX,float ang_velY,float ang_velZ,bool local)
{
SimdVector3 angvel(ang_velX,ang_velY,ang_velZ);
SimdTransform xform = m_body->getCenterOfMassTransform();
if (local)
if (angvel.length2() > (SIMD_EPSILON*SIMD_EPSILON))
{
angvel = xform.getBasis()*angvel;
}
SimdTransform xform = m_body->getCenterOfMassTransform();
if (local)
{
angvel = xform.getBasis()*angvel;
}
m_body->setAngularVelocity(angvel);
m_body->setAngularVelocity(angvel);
}
}
void CcdPhysicsController::SetLinearVelocity(float lin_velX,float lin_velY,float lin_velZ,bool local)
{
SimdVector3 linVel(lin_velX,lin_velY,lin_velZ);
SimdTransform xform = m_body->getCenterOfMassTransform();
if (local)
if (linVel.length2() > (SIMD_EPSILON*SIMD_EPSILON))
{
linVel = xform.getBasis()*linVel;
m_body->activate();
SimdTransform xform = m_body->getCenterOfMassTransform();
if (local)
{
linVel = xform.getBasis()*linVel;
}
m_body->setLinearVelocity(linVel);
}
m_body->setLinearVelocity(linVel);
}
void CcdPhysicsController::applyImpulse(float attachX,float attachY,float attachZ, float impulseX,float impulseY,float impulseZ)
{
SimdVector3 impulse(impulseX,impulseY,impulseZ);
SimdVector3 pos(attachX,attachY,attachZ);
m_body->activate();
if (impulse.length2() > (SIMD_EPSILON*SIMD_EPSILON))
{
m_body->activate();
SimdVector3 pos(attachX,attachY,attachZ);
m_body->applyImpulse(impulse,pos);
m_body->activate();
m_body->applyImpulse(impulse,pos);
}
}
void CcdPhysicsController::SetActive(bool active)

13
extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp vendored
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@@ -1462,15 +1462,15 @@ TypedConstraint* CcdPhysicsEnvironment::getConstraintById(int constraintId)
void CcdPhysicsEnvironment::addSensor(PHY_IPhysicsController* ctrl)
{
printf("addSensor\n");
//printf("addSensor\n");
}
void CcdPhysicsEnvironment::removeSensor(PHY_IPhysicsController* ctrl)
{
printf("removeSensor\n");
//printf("removeSensor\n");
}
void CcdPhysicsEnvironment::addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user)
{
printf("addTouchCallback\n(response class = %i)\n",response_class);
/* printf("addTouchCallback\n(response class = %i)\n",response_class);
//map PHY_ convention into SM_ convention
switch (response_class)
@@ -1494,6 +1494,7 @@ void CcdPhysicsEnvironment::addTouchCallback(int response_class, PHY_ResponseCal
assert(0);
return;
}
*/
m_triggerCallbacks[response_class] = callback;
m_triggerCallbacksUserPtrs[response_class] = user;
@@ -1503,7 +1504,7 @@ void CcdPhysicsEnvironment::requestCollisionCallback(PHY_IPhysicsController* ctr
{
CcdPhysicsController* ccdCtrl = static_cast<CcdPhysicsController*>(ctrl);
printf("requestCollisionCallback\n");
//printf("requestCollisionCallback\n");
m_triggerControllers.push_back(ccdCtrl);
}
@@ -1514,7 +1515,7 @@ void CcdPhysicsEnvironment::CallbackTriggers()
if (m_triggerCallbacks[PHY_OBJECT_RESPONSE])
{
//walk over all overlapping pairs, and if one of the involved bodies is registered for trigger callback, perform callback
int numManifolds = m_collisionWorld->GetDispatcher()->GetNumManifolds();
for (int i=0;i<numManifolds;i++)
{
@@ -1547,7 +1548,7 @@ void CcdPhysicsEnvironment::CallbackTriggers()
}
//walk over all overlapping pairs, and if
}

62
source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
View File

@@ -195,16 +195,21 @@ void CcdPhysicsController::PostProcessReplica(class PHY_IMotionState* motionsta
// kinematic methods
void CcdPhysicsController::RelativeTranslate(float dlocX,float dlocY,float dlocZ,bool local)
{
SimdVector3 dloc(dlocX,dlocY,dlocZ);
SimdTransform xform = m_body->getCenterOfMassTransform();
if (local)
if (m_body)
{
dloc = xform.getBasis()*dloc;
}
m_body->activate();
xform.setOrigin(xform.getOrigin() + dloc);
this->m_body->setCenterOfMassTransform(xform);
SimdVector3 dloc(dlocX,dlocY,dlocZ);
SimdTransform xform = m_body->getCenterOfMassTransform();
if (local)
{
dloc = xform.getBasis()*dloc;
}
xform.setOrigin(xform.getOrigin() + dloc);
m_body->setCenterOfMassTransform(xform);
}
}
@@ -212,6 +217,8 @@ void CcdPhysicsController::RelativeRotate(const float rotval[9],bool local)
{
if (m_body )
{
m_body->activate();
SimdMatrix3x3 drotmat( rotval[0],rotval[1],rotval[2],
rotval[4],rotval[5],rotval[6],
rotval[8],rotval[9],rotval[10]);
@@ -319,34 +326,47 @@ void CcdPhysicsController::ApplyForce(float forceX,float forceY,float forceZ,bo
void CcdPhysicsController::SetAngularVelocity(float ang_velX,float ang_velY,float ang_velZ,bool local)
{
SimdVector3 angvel(ang_velX,ang_velY,ang_velZ);
SimdTransform xform = m_body->getCenterOfMassTransform();
if (local)
if (angvel.length2() > (SIMD_EPSILON*SIMD_EPSILON))
{
angvel = xform.getBasis()*angvel;
}
SimdTransform xform = m_body->getCenterOfMassTransform();
if (local)
{
angvel = xform.getBasis()*angvel;
}
m_body->setAngularVelocity(angvel);
m_body->setAngularVelocity(angvel);
}
}
void CcdPhysicsController::SetLinearVelocity(float lin_velX,float lin_velY,float lin_velZ,bool local)
{
SimdVector3 linVel(lin_velX,lin_velY,lin_velZ);
SimdTransform xform = m_body->getCenterOfMassTransform();
if (local)
if (linVel.length2() > (SIMD_EPSILON*SIMD_EPSILON))
{
linVel = xform.getBasis()*linVel;
m_body->activate();
SimdTransform xform = m_body->getCenterOfMassTransform();
if (local)
{
linVel = xform.getBasis()*linVel;
}
m_body->setLinearVelocity(linVel);
}
m_body->setLinearVelocity(linVel);
}
void CcdPhysicsController::applyImpulse(float attachX,float attachY,float attachZ, float impulseX,float impulseY,float impulseZ)
{
SimdVector3 impulse(impulseX,impulseY,impulseZ);
SimdVector3 pos(attachX,attachY,attachZ);
m_body->activate();
if (impulse.length2() > (SIMD_EPSILON*SIMD_EPSILON))
{
m_body->activate();
SimdVector3 pos(attachX,attachY,attachZ);
m_body->applyImpulse(impulse,pos);
m_body->activate();
m_body->applyImpulse(impulse,pos);
}
}
void CcdPhysicsController::SetActive(bool active)

13
source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
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@@ -1462,15 +1462,15 @@ TypedConstraint* CcdPhysicsEnvironment::getConstraintById(int constraintId)
void CcdPhysicsEnvironment::addSensor(PHY_IPhysicsController* ctrl)
{
printf("addSensor\n");
//printf("addSensor\n");
}
void CcdPhysicsEnvironment::removeSensor(PHY_IPhysicsController* ctrl)
{
printf("removeSensor\n");
//printf("removeSensor\n");
}
void CcdPhysicsEnvironment::addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user)
{
printf("addTouchCallback\n(response class = %i)\n",response_class);
/* printf("addTouchCallback\n(response class = %i)\n",response_class);
//map PHY_ convention into SM_ convention
switch (response_class)
@@ -1494,6 +1494,7 @@ void CcdPhysicsEnvironment::addTouchCallback(int response_class, PHY_ResponseCal
assert(0);
return;
}
*/
m_triggerCallbacks[response_class] = callback;
m_triggerCallbacksUserPtrs[response_class] = user;
@@ -1503,7 +1504,7 @@ void CcdPhysicsEnvironment::requestCollisionCallback(PHY_IPhysicsController* ctr
{
CcdPhysicsController* ccdCtrl = static_cast<CcdPhysicsController*>(ctrl);
printf("requestCollisionCallback\n");
//printf("requestCollisionCallback\n");
m_triggerControllers.push_back(ccdCtrl);
}
@@ -1514,7 +1515,7 @@ void CcdPhysicsEnvironment::CallbackTriggers()
if (m_triggerCallbacks[PHY_OBJECT_RESPONSE])
{
//walk over all overlapping pairs, and if one of the involved bodies is registered for trigger callback, perform callback
int numManifolds = m_collisionWorld->GetDispatcher()->GetNumManifolds();
for (int i=0;i<numManifolds;i++)
{
@@ -1547,7 +1548,7 @@ void CcdPhysicsEnvironment::CallbackTriggers()
}
//walk over all overlapping pairs, and if
}