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moved some hardcoded constants into tweaking tresholds

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exposed those tresholds to python (more 'expert' settings)
This commit is contained in:
Erwin Coumans
2005-08-03 18:22:30 +00:00
parent 8a58197cf3
commit 2cc6d565cb
16 changed files with 349 additions and 51 deletions
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61
source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
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@@ -33,8 +33,6 @@ bool useIslands = true;
//#include "BroadphaseCollision/QueryBox.h"
//todo: change this to allow dynamic registration of types!
unsigned long gNumIterations = 10;
#ifdef WIN32
void DrawRasterizerLine(const float* from,const float* to,int color);
#endif
@@ -88,13 +86,16 @@ static void DrawAabb(IDebugDraw* debugDrawer,const SimdVector3& from,const SimdV
CcdPhysicsEnvironment::CcdPhysicsEnvironment(ToiContactDispatcher* dispatcher,BroadphaseInterface* bp)
:m_dispatcher(dispatcher),
m_broadphase(bp),
m_scalingPropagated(false)
m_scalingPropagated(false),
m_numIterations(30),
m_ccdMode(0)
{
if (!m_dispatcher)
{
OdeConstraintSolver* solver = new OdeConstraintSolver();
//SimpleConstraintSolver* solver= new SimpleConstraintSolver();
m_dispatcher = new ToiContactDispatcher(solver);
}
if (!m_broadphase)
{
@@ -290,7 +291,6 @@ void CcdPhysicsEnvironment::UpdateActivationState()
}
bool gPredictCollision = false;//true;//false;
/// Perform an integration step of duration 'timeStep'.
@@ -346,7 +346,7 @@ bool CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
int numsubstep = gNumIterations;
int numsubstep = m_numIterations;
DispatcherInfo dispatchInfo;
@@ -367,7 +367,7 @@ bool CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
//contacts
m_dispatcher->SolveConstraints(timeStep, gNumIterations ,numRigidBodies,m_debugDrawer);
m_dispatcher->SolveConstraints(timeStep, m_numIterations ,numRigidBodies,m_debugDrawer);
for (int g=0;g<numsubstep;g++)
{
@@ -454,7 +454,7 @@ bool CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
if (gPredictCollision)
if (m_ccdMode == 3)
{
DispatcherInfo dispatchInfo;
dispatchInfo.m_timeStep = timeStep;
@@ -548,7 +548,7 @@ void CcdPhysicsEnvironment::setDebugMode(int debugMode)
if (m_dispatcher)
delete m_dispatcher;
if (debugMode == 11)
if (debugMode > 100)
{
SimpleConstraintSolver* solver= new SimpleConstraintSolver();
m_dispatcher = new ToiContactDispatcher(solver);
@@ -563,6 +563,51 @@ void CcdPhysicsEnvironment::setDebugMode(int debugMode)
}
}
void CcdPhysicsEnvironment::setNumIterations(int numIter)
{
m_numIterations = numIter;
}
void CcdPhysicsEnvironment::setDeactivationTime(float dTime)
{
gDeactivationTime = dTime;
}
void CcdPhysicsEnvironment::setDeactivationLinearTreshold(float linTresh)
{
gLinearSleepingTreshold = linTresh;
}
void CcdPhysicsEnvironment::setDeactivationAngularTreshold(float angTresh)
{
gAngularSleepingTreshold = angTresh;
}
void CcdPhysicsEnvironment::setContactBreakingTreshold(float contactBreakingTreshold)
{
gContactBreakingTreshold = contactBreakingTreshold;
}
void CcdPhysicsEnvironment::setCcdMode(int ccdMode)
{
m_ccdMode = ccdMode;
}
void CcdPhysicsEnvironment::setSolverSorConstant(float sor)
{
m_dispatcher->SetSor(sor);
}
void CcdPhysicsEnvironment::setTau(float tau)
{
m_dispatcher->SetTau(tau);
}
void CcdPhysicsEnvironment::setDamping(float damping)
{
m_dispatcher->SetDamping(damping);
}
void CcdPhysicsEnvironment::SyncMotionStates(float timeStep)
{