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more physics work: fixed some deactivation bug, improved contact constraint stability and friction (lower the number of iterations).

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This commit is contained in:
Erwin Coumans
2006-03-29 03:11:30 +00:00
parent 337928c97b
commit e8ce63fcf9
11 changed files with 159 additions and 169 deletions
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3
extern/bullet/Bullet/CollisionDispatch/CollisionObject.cpp vendored
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@@ -19,7 +19,8 @@ subject to the following restrictions:
void CollisionObject::SetActivationState(int newState)
{
m_activationState1 = newState;
if (m_activationState1 != DISABLE_DEACTIVATION)
m_activationState1 = newState;
}
void CollisionObject::activate()

10
extern/bullet/Bullet/NarrowPhaseCollision/ManifoldPoint.h vendored
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@@ -37,6 +37,7 @@ class ManifoldPoint
m_normalWorldOnB( normal ),
m_distance1( distance ),
m_appliedImpulse(0.f),
m_prevAppliedImpulse(0.f),
m_accumulatedTangentImpulse0(0.f),
m_accumulatedTangentImpulse1(0.f),
m_jacDiagABInv(0.f),
@@ -62,16 +63,21 @@ class ManifoldPoint
float m_distance1;
/// total applied impulse during most recent frame
float m_appliedImpulse;
float m_prevAppliedImpulse;
float m_accumulatedTangentImpulse0;
float m_accumulatedTangentImpulse1;
float m_jacDiagABInv;
float m_jacDiagABInvTangent0;
float m_jacDiagABInvTangent1;
void CopyPersistentInformation(const ManifoldPoint& otherPoint)
{
m_appliedImpulse = otherPoint.m_appliedImpulse;
m_accumulatedTangentImpulse0 = 0;//otherPoint.m_accumulatedTangentImpulse0;
m_accumulatedTangentImpulse1 = 0;//otherPoint.m_accumulatedTangentImpulse1;
m_accumulatedTangentImpulse0 = 0.f;//otherPoint.m_accumulatedTangentImpulse0;
m_accumulatedTangentImpulse1 = 0.f;//otherPoint.m_accumulatedTangentImpulse1;
m_prevAppliedImpulse = otherPoint.m_prevAppliedImpulse;
m_lifeTime = otherPoint.m_lifeTime;
}

27
extern/bullet/BulletDynamics/ConstraintSolver/ContactConstraint.cpp vendored
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@@ -146,10 +146,14 @@ float resolveSingleCollision(
float Kcor = Kerp *Kfps;
float allowedPenetration = 0.001f;
SimdScalar positionalError = Kcor *-distance;
float clipDist = distance + allowedPenetration;
float dist = (clipDist > 0.f) ? 0.f : clipDist;
SimdScalar positionalError = Kcor *-dist*damping;
//jacDiagABInv;
SimdScalar velocityError = -(1.0f + restitution) * damping * rel_vel;
SimdScalar velocityError = -(1.0f + restitution) * rel_vel;
SimdScalar penetrationImpulse = positionalError * contactPoint.m_jacDiagABInv;
@@ -161,6 +165,7 @@ float resolveSingleCollision(
float oldNormalImpulse = contactPoint.m_appliedImpulse;
float sum = oldNormalImpulse + normalImpulse;
contactPoint.m_appliedImpulse = 0.f > sum ? 0.f: sum;
normalImpulse = contactPoint.m_appliedImpulse - oldNormalImpulse;
body1.applyImpulse(normal*(normalImpulse), rel_pos1);
@@ -184,14 +189,14 @@ float resolveSingleFriction(
SimdVector3 rel_pos1 = pos1 - body1.getCenterOfMassPosition();
SimdVector3 rel_pos2 = pos2 - body2.getCenterOfMassPosition();
float combinedFriction = calculateCombinedFriction(body1,body2);
//friction
SimdScalar limit = contactPoint.m_appliedImpulse * combinedFriction;
if (contactPoint.m_appliedImpulse>0.f)
//friction
{
//apply friction in the 2 tangential directions
float combinedFriction = calculateCombinedFriction(body1,body2);
SimdScalar limit = contactPoint.m_appliedImpulse * combinedFriction;
SimdScalar relaxation = solverInfo.m_damping;
{
// 1st tangent
@@ -200,12 +205,9 @@ float resolveSingleFriction(
SimdVector3 vel = vel1 - vel2;
SimdScalar vrel = contactPoint.m_frictionWorldTangential0.dot(vel);
float denom0 = body1.ComputeImpulseDenominator(pos1,contactPoint.m_frictionWorldTangential0);
float denom1 = body2.ComputeImpulseDenominator(pos2,contactPoint.m_frictionWorldTangential0);
float denom = relaxation/(denom0+denom1);
// calculate j that moves us to zero relative velocity
SimdScalar j = -vrel * denom;//Scalar(contactPoint.pt.m_impulseScales[1]);
SimdScalar j = -vrel * contactPoint.m_jacDiagABInvTangent1;
float total = contactPoint.m_accumulatedTangentImpulse0 + j;
GEN_set_min(total, limit);
GEN_set_max(total, -limit);
@@ -223,12 +225,9 @@ float resolveSingleFriction(
SimdVector3 vel = vel1 - vel2;
SimdScalar vrel = contactPoint.m_frictionWorldTangential1.dot(vel);
float denom0 = body1.ComputeImpulseDenominator(pos1,contactPoint.m_frictionWorldTangential1);
float denom1 = body2.ComputeImpulseDenominator(pos2,contactPoint.m_frictionWorldTangential1);
float denom = relaxation/(denom0+denom1);
// calculate j that moves us to zero relative velocity
SimdScalar j = -vrel * denom;//Scalar(contactPoint.pt.m_impulseScales[1]);
SimdScalar j = -vrel * contactPoint.m_jacDiagABInvTangent1;
float total = contactPoint.m_accumulatedTangentImpulse1 + j;
GEN_set_min(total, limit);
GEN_set_max(total, -limit);

2
extern/bullet/BulletDynamics/ConstraintSolver/OdeConstraintSolver.cpp vendored
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@@ -54,7 +54,7 @@ class BU_Joint;
//see below
OdeConstraintSolver::OdeConstraintSolver():
m_cfm(1e-5f),
m_cfm(0.f),//1e-5f),
m_erp(0.4f)
{
}

68
extern/bullet/BulletDynamics/ConstraintSolver/SimpleConstraintSolver.cpp vendored
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@@ -46,28 +46,29 @@ float SimpleConstraintSolver::SolveGroup(PersistentManifold** manifoldPtr, int n
//should traverse the contacts random order...
for (int i = 0;i<numiter;i++)
{
for (int j=0;j<numManifolds;j++)
int j;
for (j=0;j<numManifolds;j++)
{
int k=j;
if (i % 2)
k = numManifolds-1-j;
if (i&&1)
k=numManifolds-j-1;
Solve(manifoldPtr[k],info,i,debugDrawer);
}
for (j=0;j<numManifolds;j++)
{
int k = j;
if (i&&1)
k=numManifolds-j-1;
SolveFriction(manifoldPtr[k],info,i,debugDrawer);
}
}
//now solve the friction
for (int i = 0;i<numiter;i++)
{
for (int j=0;j<numManifolds;j++)
{
int k = numManifolds-1-j;
if (i % 2)
k=j;
SolveFriction(manifoldPtr[k],info,i,debugDrawer);
}
int j;
}
return 0.f;
@@ -109,18 +110,42 @@ float SimpleConstraintSolver::Solve(PersistentManifold* manifoldPtr, const Conta
body1->getInvInertiaDiagLocal(),body1->getInvMass());
SimdScalar jacDiagAB = jac.getDiagonal();
cp.m_jacDiagABInv = 1.f / jacDiagAB;
float relaxation = 0.9f;
//for friction
cp.m_prevAppliedImpulse = cp.m_appliedImpulse;
float relaxation = info.m_damping;
cp.m_appliedImpulse *= relaxation;
//apply previous frames impulse on both bodies
body0->applyImpulse(cp.m_normalWorldOnB*(cp.m_appliedImpulse), rel_pos1);
body1->applyImpulse(cp.m_normalWorldOnB*(-cp.m_appliedImpulse), rel_pos2);
//re-calculate friction direction every frame, todo: check if this is really needed
SimdPlaneSpace1(cp.m_normalWorldOnB,cp.m_frictionWorldTangential0,cp.m_frictionWorldTangential1);
cp.m_accumulatedTangentImpulse0 = 0.f;
cp.m_accumulatedTangentImpulse1 = 0.f;
float denom0 = body0->ComputeImpulseDenominator(pos1,cp.m_frictionWorldTangential0);
float denom1 = body1->ComputeImpulseDenominator(pos2,cp.m_frictionWorldTangential0);
float denom = relaxation/(denom0+denom1);
cp.m_jacDiagABInvTangent0 = denom;
denom0 = body0->ComputeImpulseDenominator(pos1,cp.m_frictionWorldTangential1);
denom1 = body1->ComputeImpulseDenominator(pos2,cp.m_frictionWorldTangential1);
denom = relaxation/(denom0+denom1);
cp.m_jacDiagABInvTangent1 = denom;
SimdVector3 totalImpulse =
// cp.m_frictionWorldTangential0*cp.m_accumulatedTangentImpulse0+
// cp.m_frictionWorldTangential1*cp.m_accumulatedTangentImpulse1+
cp.m_normalWorldOnB*cp.m_appliedImpulse;
//apply previous frames impulse on both bodies
body0->applyImpulse(totalImpulse, rel_pos1);
body1->applyImpulse(-totalImpulse, rel_pos2);
}
}
@@ -148,10 +173,11 @@ float SimpleConstraintSolver::Solve(PersistentManifold* manifoldPtr, const Conta
{
float actualDist = cp.GetDistance();
#define MAXPENETRATIONPERFRAME -0.2f
float dist = actualDist< MAXPENETRATIONPERFRAME? MAXPENETRATIONPERFRAME:actualDist;
//float actualDist = cp.GetDistance();
//#define MAXPENETRATIONPERFRAME -0.2f
//float dist = actualDist< MAXPENETRATIONPERFRAME? MAXPENETRATIONPERFRAME:actualDist;
float dist = cp.GetDistance();
float impulse = resolveSingleCollision(
*body0,*body1,

31
extern/bullet/BulletDynamics/Dynamics/RigidBody.cpp vendored
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@@ -96,6 +96,37 @@ void RigidBody::applyForces(SimdScalar step)
m_linearVelocity *= GEN_clamped((1.f - step * gLinearAirDamping * m_linearDamping), 0.0f, 1.0f);
m_angularVelocity *= GEN_clamped((1.f - step * m_angularDamping), 0.0f, 1.0f);
//#define FORCE_VELOCITY_DAMPING 1
#ifdef FORCE_VELOCITY_DAMPING
float speed = m_linearVelocity.length();
if (speed < m_linearDamping)
{
float dampVel = 0.005f;
if (speed > dampVel)
{
SimdVector3 dir = m_linearVelocity.normalized();
m_linearVelocity -= dir * dampVel;
} else
{
m_linearVelocity.setValue(0.f,0.f,0.f);
}
}
float angSpeed = m_angularVelocity.length();
if (angSpeed < m_angularDamping)
{
float angDampVel = 0.005f;
if (angSpeed > angDampVel)
{
SimdVector3 dir = m_angularVelocity.normalized();
m_angularVelocity -= dir * angDampVel;
} else
{
m_angularVelocity.setValue(0.f,0.f,0.f);
}
}
#endif //FORCE_VELOCITY_DAMPING
}

22
extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp vendored
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@@ -1,19 +1,3 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "CcdPhysicsController.h"
#include "Dynamics/RigidBody.h"
@@ -390,9 +374,8 @@ void CcdPhysicsController::setNewClientInfo(void* clientinfo)
void CcdPhysicsController::UpdateDeactivation(float timeStep)
{
if ( (m_body->GetActivationState() == 2))
if ( (m_body->GetActivationState() == ISLAND_SLEEPING) || (m_body->GetActivationState() == DISABLE_DEACTIVATION))
return;
if ((m_body->getLinearVelocity().length2() < gLinearSleepingTreshold*gLinearSleepingTreshold) &&
(m_body->getAngularVelocity().length2() < gAngularSleepingTreshold*gAngularSleepingTreshold))
@@ -409,6 +392,9 @@ void CcdPhysicsController::UpdateDeactivation(float timeStep)
bool CcdPhysicsController::wantsSleeping()
{
if (m_body->GetActivationState() == DISABLE_DEACTIVATION)
return false;
//disable deactivation
if (gDisableDeactivation || (gDeactivationTime == 0.f))
return false;

18
extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.h vendored
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@@ -1,17 +1,3 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BULLET2_PHYSICSCONTROLLER_H
#define BULLET2_PHYSICSCONTROLLER_H
@@ -41,14 +27,14 @@ struct CcdConstructionInfo
{
CcdConstructionInfo()
: m_gravity(0,0,0),
m_scaling(1.f,1.f,1.f),
m_mass(0.f),
m_restitution(0.1f),
m_linearDamping(0.1f),
m_angularDamping(0.1f),
m_MotionState(0),
m_physicsEnv(0),
m_inertiaFactor(1.f)
m_inertiaFactor(1.f),
m_scaling(1.f,1.f,1.f)
{
}

121
extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp vendored
View File

@@ -1,18 +1,3 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "CcdPhysicsEnvironment.h"
#include "CcdPhysicsController.h"
@@ -21,6 +6,8 @@ subject to the following restrictions:
#include "Dynamics/RigidBody.h"
#include "BroadphaseCollision/BroadphaseInterface.h"
#include "BroadphaseCollision/SimpleBroadphase.h"
#include "BroadphaseCollision/AxisSweep3.h"
#include "CollisionDispatch/CollisionWorld.h"
#include "CollisionShapes/ConvexShape.h"
@@ -62,9 +49,6 @@ RaycastVehicle::VehicleTuning gTuning;
#include "ConstraintSolver/ConstraintSolver.h"
#include "ConstraintSolver/Point2PointConstraint.h"
#include "ConstraintSolver/HingeConstraint.h"
//#include "BroadphaseCollision/QueryDispatcher.h"
//#include "BroadphaseCollision/QueryBox.h"
//todo: change this to allow dynamic registration of types!
@@ -133,6 +117,7 @@ public:
{
WheelInfo& info = m_vehicle->GetWheelInfo(i);
PHY_IMotionState* motionState = (PHY_IMotionState*)info.m_clientInfo ;
m_vehicle->UpdateWheelTransform(i);
SimdTransform trans = m_vehicle->GetWheelTransformWS(i);
SimdQuaternion orn = trans.getRotation();
const SimdVector3& pos = trans.getOrigin();
@@ -308,10 +293,10 @@ static void DrawAabb(IDebugDraw* debugDrawer,const SimdVector3& from,const SimdV
CcdPhysicsEnvironment::CcdPhysicsEnvironment(CollisionDispatcher* dispatcher,BroadphaseInterface* broadphase)
:m_numIterations(5),
:m_scalingPropagated(false),
m_numIterations(10),
m_ccdMode(0),
m_solverType(-1),
m_scalingPropagated(false)
m_solverType(-1)
{
if (!dispatcher)
@@ -319,9 +304,18 @@ m_scalingPropagated(false)
if(!broadphase)
broadphase = new SimpleBroadphase();
{
//todo: calculate/let user specify this world sizes
SimdVector3 worldMin(-10000,-10000,-10000);
SimdVector3 worldMax(10000,10000,10000);
broadphase = new AxisSweep3(worldMin,worldMax);
//broadphase = new SimpleBroadphase();
}
setSolverType(1);
setSolverType(0);
m_collisionWorld = new CollisionWorld(dispatcher,broadphase);
@@ -342,7 +336,7 @@ void CcdPhysicsEnvironment::addCcdPhysicsController(CcdPhysicsController* ctrl)
assert(body->m_broadphaseHandle);
/*BroadphaseInterface* scene = */GetBroadphase();
BroadphaseInterface* scene = GetBroadphase();
CollisionShape* shapeinterface = ctrl->GetCollisionShape();
@@ -398,12 +392,12 @@ void CcdPhysicsEnvironment::removeCcdPhysicsController(CcdPhysicsController* ctr
//also remove constraint
{
std::vector<TypedConstraint*>::iterator i;
std::vector<Point2PointConstraint*>::iterator i;
for (i=m_constraints.begin();
!(i==m_constraints.end()); i++)
for (i=m_p2pConstraints.begin();
!(i==m_p2pConstraints.end()); i++)
{
TypedConstraint* p2p = (*i);
Point2PointConstraint* p2p = (*i);
if ((&p2p->GetRigidBodyA() == ctrl->GetRigidBody() ||
(&p2p->GetRigidBodyB() == ctrl->GetRigidBody())))
{
@@ -415,12 +409,12 @@ void CcdPhysicsEnvironment::removeCcdPhysicsController(CcdPhysicsController* ctr
}
{
std::vector<TypedConstraint*>::iterator i;
std::vector<Point2PointConstraint*>::iterator i;
for (i=m_constraints.begin();
!(i==m_constraints.end()); i++)
for (i=m_p2pConstraints.begin();
!(i==m_p2pConstraints.end()); i++)
{
TypedConstraint* p2p = (*i);
Point2PointConstraint* p2p = (*i);
if ((&p2p->GetRigidBodyA() == ctrl->GetRigidBody() ||
(&p2p->GetRigidBodyB() == ctrl->GetRigidBody())))
{
@@ -594,12 +588,12 @@ bool CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
int i;
int numPoint2Point = m_constraints.size();
int numPoint2Point = m_p2pConstraints.size();
//point to point constraints
for (i=0;i< numPoint2Point ; i++ )
{
TypedConstraint* p2p = m_constraints[i];
Point2PointConstraint* p2p = m_p2pConstraints[i];
p2p->BuildJacobian();
p2p->SolveConstraint( timeStep );
@@ -686,6 +680,10 @@ bool CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
{
break;
}
case DISABLE_DEACTIVATION:
{
color.setValue(1,0,1);
};
};
@@ -769,7 +767,8 @@ bool CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
body->SetActivationState( WANTS_DEACTIVATION );
} else
{
body->SetActivationState( ACTIVE_TAG );
if (body->GetActivationState() != DISABLE_DEACTIVATION)
body->SetActivationState( ACTIVE_TAG );
}
if (useIslands)
@@ -803,12 +802,7 @@ bool CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
for (int i=0;i<numVehicles;i++)
{
WrapperVehicle* wrapperVehicle = m_wrapperVehicles[i];
for (int j=0;j<wrapperVehicle->GetVehicle()->GetNumWheels();j++)
{
wrapperVehicle->GetVehicle()->UpdateWheelTransform(j);
}
wrapperVehicle->SyncWheels();
}
#endif //NEW_BULLET_VEHICLE_SUPPORT
@@ -1033,13 +1027,8 @@ int CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl
ASSERT(rb0);
SimdVector3 pivotInA(pivotX,pivotY,pivotZ);
SimdVector3 axisInA(axisX,axisY,axisZ);
SimdVector3 pivotInB = rb1 ? rb1->getCenterOfMassTransform().inverse()(rb0->getCenterOfMassTransform()(pivotInA)) : pivotInA;
SimdVector3 axisInB = rb1 ? rb1->getCenterOfMassTransform().getBasis().inverse()*(rb0->getCenterOfMassTransform().getBasis()*(axisInA)) : axisInA;
switch (type)
{
case PHY_POINT2POINT_CONSTRAINT:
@@ -1057,34 +1046,12 @@ int CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl
pivotInA);
}
m_constraints.push_back(p2p);
m_p2pConstraints.push_back(p2p);
p2p->SetUserConstraintId(gConstraintUid++);
p2p->SetUserConstraintType(type);
//64 bit systems can't cast pointer to int. could use size_t instead.
return p2p->GetUserConstraintId();
break;
}
case PHY_LINEHINGE_CONSTRAINT:
{
HingeConstraint* hinge= 0;
if (rb1)
{
hinge = new HingeConstraint(*rb0,
*rb1,pivotInA,pivotInB,axisInA,axisInB);
} else
{
hinge = new HingeConstraint(*rb0,
pivotInA,axisInA);
}
m_constraints.push_back(hinge);
hinge->SetUserConstraintId(gConstraintUid++);
hinge->SetUserConstraintType(type);
//64 bit systems can't cast pointer to int. could use size_t instead.
return hinge->GetUserConstraintId();
break;
}
#ifdef NEW_BULLET_VEHICLE_SUPPORT
@@ -1118,16 +1085,19 @@ int CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl
void CcdPhysicsEnvironment::removeConstraint(int constraintId)
{
std::vector<TypedConstraint*>::iterator i;
std::vector<Point2PointConstraint*>::iterator i;
for (i=m_constraints.begin();
!(i==m_constraints.end()); i++)
//std::find(m_p2pConstraints.begin(), m_p2pConstraints.end(),
// (Point2PointConstraint *)p2p);
for (i=m_p2pConstraints.begin();
!(i==m_p2pConstraints.end()); i++)
{
TypedConstraint* p2p = (*i);
Point2PointConstraint* p2p = (*i);
if (p2p->GetUserConstraintId() == constraintId)
{
std::swap(*i, m_constraints.back());
m_constraints.pop_back();
std::swap(*i, m_p2pConstraints.back());
m_p2pConstraints.pop_back();
break;
}
}
@@ -1350,3 +1320,4 @@ PHY_IVehicle* CcdPhysicsEnvironment::getVehicleConstraint(int constraintId)
}
#endif //NEW_BULLET_VEHICLE_SUPPORT

24
extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.h vendored
View File

@@ -1,18 +1,3 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef CCDPHYSICSENVIRONMENT
#define CCDPHYSICSENVIRONMENT
@@ -22,15 +7,14 @@ class CcdPhysicsController;
#include "SimdVector3.h"
class PHY_IVehicle;
class TypedConstraint;
class Point2PointConstraint;
class CollisionDispatcher;
class Dispatcher;
//#include "BroadphaseInterface.h"
//switch on/off new vehicle support
//vehicles not available yet, under development in Blender CVS branch
//#define NEW_BULLET_VEHICLE_SUPPORT 1
#define NEW_BULLET_VEHICLE_SUPPORT 1
#include "ConstraintSolver/ContactSolverInfo.h"
@@ -160,7 +144,7 @@ class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
std::vector<CcdPhysicsController*> m_controllers;
std::vector<TypedConstraint*> m_constraints;
std::vector<Point2PointConstraint*> m_p2pConstraints;
std::vector<WrapperVehicle*> m_wrapperVehicles;

2
source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
View File

@@ -294,7 +294,7 @@ static void DrawAabb(IDebugDraw* debugDrawer,const SimdVector3& from,const SimdV
CcdPhysicsEnvironment::CcdPhysicsEnvironment(CollisionDispatcher* dispatcher,BroadphaseInterface* broadphase)
:m_scalingPropagated(false),
m_numIterations(30),
m_numIterations(10),
m_ccdMode(0),
m_solverType(-1)
{