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added physics-debugging

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didn't check every single file, so might have broken some gameengine stuff, will fix it this weekend!
This commit is contained in:
Erwin Coumans
2005-07-29 18:14:41 +00:00
parent 7d797797c8
commit dad6ef9045
32 changed files with 341 additions and 166 deletions
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11
extern/bullet/Bullet/CollisionShapes/BoxShape.cpp vendored
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@@ -11,6 +11,14 @@
#include "BoxShape.h"
SimdVector3 BoxShape::GetHalfExtents() const
{
SimdVector3 scalingCorrectedHalfExtents = m_boxHalfExtents1 * m_localScaling;
SimdVector3 marginCorrection (CONVEX_DISTANCE_MARGIN,CONVEX_DISTANCE_MARGIN,CONVEX_DISTANCE_MARGIN);
return (scalingCorrectedHalfExtents - marginCorrection).absolute();
}
void BoxShape::GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const
{
@@ -25,7 +33,8 @@ void BoxShape::GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3&
//todo: this is a quick fix, we need to enlarge the aabb dependent on several criteria
//extent += SimdVector3(.2f,.2f,.2f);
// SimdVector3 extra(1,1,1);
// extent += extra;
aabbMin = center - extent;
aabbMax = center + extent;

5
extern/bullet/Bullet/CollisionShapes/BoxShape.h vendored
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@@ -32,10 +32,7 @@ public:
}
SimdVector3 GetHalfExtents() const{ return m_boxHalfExtents1 * m_localScaling;}
//const SimdVector3& GetHalfExtents() const{ return m_boxHalfExtents1;}
SimdVector3 GetHalfExtents() const;
virtual int GetShapeType() const { return BOX_SHAPE_PROXYTYPE;}

6
extern/bullet/Bullet/CollisionShapes/ConvexHullShape.cpp vendored
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@@ -118,13 +118,13 @@ void ConvexHullShape::GetEdge(int i,SimdPoint3& pa,SimdPoint3& pb) const
int index0 = i%m_points.size();
int index1 = i/m_points.size();
pa = m_points[index0];
pb = m_points[index1];
pa = m_points[index0]*m_localScaling;
pb = m_points[index1]*m_localScaling;
}
void ConvexHullShape::GetVertex(int i,SimdPoint3& vtx) const
{
vtx = m_points[i];
vtx = m_points[i]*m_localScaling;
}
int ConvexHullShape::GetNumPlanes() const

2
extern/bullet/Bullet/NarrowPhaseCollision/CollisionMargin.h vendored
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@@ -3,7 +3,7 @@
//used by Gjk and some other algorithms
#define CONVEX_DISTANCE_MARGIN 0.05f// 0.1f//;//0.01f
#define CONVEX_DISTANCE_MARGIN 0.04f// 0.1f//;//0.01f

8
extern/bullet/Bullet/NarrowPhaseCollision/ConvexCast.h vendored
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@@ -16,6 +16,7 @@
#include <SimdVector3.h>
#include <SimdScalar.h>
class MinkowskiSumShape;
#include "IDebugDraw.h"
/// ConvexCast is an interface for Casting
class ConvexCast
@@ -33,8 +34,10 @@ public:
virtual void DebugDraw(SimdScalar fraction) {}
virtual void DrawCoordSystem(const SimdTransform& trans) {}
CastResult()
:m_fraction(1e30f)
:m_fraction(1e30f),
m_debugDrawer(0)
{
}
@@ -42,6 +45,9 @@ public:
SimdScalar m_fraction;
SimdTransform m_hitTransformA;
SimdTransform m_hitTransformB;
IDebugDraw* m_debugDrawer;
};

4
extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.cpp vendored
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@@ -111,6 +111,10 @@ void PersistentManifold::AddManifoldPoint(const ManifoldPoint& newPoint)
ReplaceContactPoint(newPoint,insertIndex);
}
float PersistentManifold::GetManifoldMargin() const
{
return 0.02f;
}
void PersistentManifold::RefreshContactPoints(const SimdTransform& trA,const SimdTransform& trB)
{

7
extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.h vendored
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@@ -37,6 +37,8 @@ class PersistentManifold
/// sort cached points so most isolated points come first
int SortCachedPoints(const ManifoldPoint& pt);
int FindContactPoint(const ManifoldPoint* unUsed, int numUnused,const ManifoldPoint& pt);
public:
int m_index1;
@@ -77,10 +79,7 @@ public:
}
/// todo: get this margin from the current physics / collision environment
inline float GetManifoldMargin() const
{
return 0.02f;
}
float GetManifoldMargin() const;
int GetCacheEntry(const ManifoldPoint& newPoint) const;

2
extern/bullet/BulletDynamics/CollisionDispatch/ConvexConvexAlgorithm.cpp vendored
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@@ -176,6 +176,8 @@ m_collisionImpulse = 0.f;
input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
}
input.m_maximumDistanceSquared = 1e30;//
input.m_transformA = body0->getCenterOfMassTransform();
input.m_transformB = body1->getCenterOfMassTransform();

31
extern/bullet/BulletDynamics/CollisionDispatch/ToiContactDispatcher.cpp vendored
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@@ -86,18 +86,15 @@ void ToiContactDispatcher::ReleaseManifold(PersistentManifold* manifold)
//
// todo: this is random access, it can be walked 'cache friendly'!
//
void ToiContactDispatcher::SolveConstraints(float timeStep, int numIterations,int numRigidBodies)
void ToiContactDispatcher::SolveConstraints(float timeStep, int numIterations,int numRigidBodies,IDebugDraw* debugDrawer)
{
int i;
int numManifolds;
for (int islandId=0;islandId<numRigidBodies;islandId++)
{
numManifolds = 0;
PersistentManifold* manifolds[MAX_MANIFOLDS];
std::vector<PersistentManifold*> islandmanifold;
//int numSleeping = 0;
@@ -116,16 +113,15 @@ void ToiContactDispatcher::SolveConstraints(float timeStep, int numIterations,in
allSleeping = false;
}
manifolds[numManifolds] = manifold;
numManifolds++;
islandmanifold.push_back(manifold);
}
}
if (allSleeping)
{
//tag all as 'ISLAND_SLEEPING'
for (i=0;i<numManifolds;i++)
for (i=0;i<islandmanifold.size();i++)
{
PersistentManifold* manifold = manifolds[i];
PersistentManifold* manifold = islandmanifold[i];
if (((RigidBody*)manifold->GetBody0()))
{
((RigidBody*)manifold->GetBody0())->SetActivationState( ISLAND_SLEEPING );
@@ -140,9 +136,9 @@ void ToiContactDispatcher::SolveConstraints(float timeStep, int numIterations,in
{
//tag all as 'ISLAND_SLEEPING'
for (i=0;i<numManifolds;i++)
for (i=0;i<islandmanifold.size();i++)
{
PersistentManifold* manifold = manifolds[i];
PersistentManifold* manifold = islandmanifold[i];
if (((RigidBody*)manifold->GetBody0()))
{
if ( ((RigidBody*)manifold->GetBody0())->GetActivationState() == ISLAND_SLEEPING)
@@ -169,19 +165,8 @@ void ToiContactDispatcher::SolveConstraints(float timeStep, int numIterations,in
info.m_tau = 0.4f;
info.m_restitution = 0.1f;//m_restitution;
/*
int numManifolds = 0;
for (i=0;i<m_firstFreeManifold;i++)
{
PersistentManifold* manifold = &m_manifolds[m_freeManifolds[i]];
//ASSERT(((RigidBody*)manifold->GetBody0()));
//ASSERT(((RigidBody*)manifold->GetBody1()));
manifolds[i] = manifold;
numManifolds++;
}
*/
m_solver->SolveGroup( manifolds, numManifolds,info );
m_solver->SolveGroup( &islandmanifold[0], islandmanifold.size(),info,debugDrawer );
}
}

6
extern/bullet/BulletDynamics/CollisionDispatch/ToiContactDispatcher.h vendored
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@@ -7,13 +7,13 @@
#include "BroadphaseCollision/BroadphaseProxy.h"
class ConstraintSolver;
class IDebugDraw;
//island management
#define ACTIVE_TAG 1
#define ISLAND_SLEEPING 2
#define WANTS_DEACTIVATION 3
#define MAX_MANIFOLDS 512
struct CollisionAlgorithmCreateFunc
{
@@ -40,8 +40,6 @@ class ToiContactDispatcher : public Dispatcher
std::vector<PersistentManifold*> m_manifoldsPtr;
// PersistentManifold m_manifolds[MAX_MANIFOLDS];
// int m_freeManifolds[MAX_MANIFOLDS];
UnionFind m_unionFind;
ConstraintSolver* m_solver;
@@ -86,7 +84,7 @@ public:
//
// todo: this is random access, it can be walked 'cache friendly'!
//
virtual void SolveConstraints(float timeStep, int numIterations,int numRigidBodies);
virtual void SolveConstraints(float timeStep, int numIterations,int numRigidBodies,IDebugDraw* debugDrawer);
CollisionAlgorithm* FindAlgorithm(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1)

3
extern/bullet/BulletDynamics/ConstraintSolver/ConstraintSolver.h vendored
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@@ -16,6 +16,7 @@ class RigidBody;
struct ContactSolverInfo;
struct BroadphaseProxy;
class IDebugDraw;
/// ConstraintSolver provides solver interface
class ConstraintSolver
@@ -25,7 +26,7 @@ public:
virtual ~ConstraintSolver() {}
virtual float SolveGroup(PersistentManifold** manifold,int numManifolds,const ContactSolverInfo& info) = 0;
virtual float SolveGroup(PersistentManifold** manifold,int numManifolds,const ContactSolverInfo& info,class IDebugDraw* debugDrawer = 0) = 0;
};

36
extern/bullet/BulletDynamics/ConstraintSolver/ContactConstraint.cpp vendored
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@@ -23,16 +23,29 @@ static SimdScalar ContactThreshold = -10.0f;
float useGlobalSettingContacts = false;//true;
SimdScalar contactDamping = 0.9f;
SimdScalar contactTau = .2f;//0.02f;//*0.02f;
SimdScalar contactTau = .02f;//0.02f;//*0.02f;
SimdScalar restitutionCurve(SimdScalar rel_vel, SimdScalar restitution)
{
return restitution;
return 0.f;
// return restitution * GEN_min(1.0f, rel_vel / ContactThreshold);
}
float MAX_FRICTION = 100.f;
SimdScalar calculateCombinedFriction(RigidBody& body0,RigidBody& body1)
{
SimdScalar friction = body0.getFriction() * body1.getFriction();
if (friction < 0.f)
friction = 0.f;
if (friction > MAX_FRICTION)
friction = MAX_FRICTION;
return friction;
}
void applyFrictionInContactPointOld(RigidBody& body1, const SimdVector3& pos1,
RigidBody& body2, const SimdVector3& pos2,
const SimdVector3& normal,float normalImpulse,
@@ -51,6 +64,8 @@ void applyFrictionInContactPointOld(RigidBody& body1, const SimdVector3& pos1,
SimdScalar rel_vel = normal.dot(vel);
float combinedFriction = calculateCombinedFriction(body1,body2);
#define PER_CONTACT_FRICTION
#ifdef PER_CONTACT_FRICTION
SimdVector3 lat_vel = vel - normal * rel_vel;
@@ -63,7 +78,7 @@ void applyFrictionInContactPointOld(RigidBody& body1, const SimdVector3& pos1,
SimdVector3 temp2 = body2.getInvInertiaTensorWorld() * rel_pos2.cross(lat_vel);
SimdScalar frictionMaxImpulse = lat_rel_vel /
(body1.getInvMass() + body2.getInvMass() + lat_vel.dot(temp1.cross(rel_pos1) + temp2.cross(rel_pos2)));
SimdScalar frictionImpulse = (normalImpulse) * solverInfo.m_friction;
SimdScalar frictionImpulse = (normalImpulse) * combinedFriction;
GEN_set_min(frictionImpulse,frictionMaxImpulse );
body1.applyImpulse(lat_vel * -frictionImpulse, rel_pos1);
@@ -129,7 +144,6 @@ void resolveSingleBilateral(RigidBody& body1, const SimdVector3& pos1,
SimdScalar massTerm = 1.f / (body1.getInvMass() + body2.getInvMass());
float contactDamping = 0.9f;
impulse = - contactDamping * rel_vel * massTerm;//jacDiagABInv;
//SimdScalar velocityImpulse = -contactDamping * rel_vel * jacDiagABInv;
@@ -167,9 +181,11 @@ float resolveSingleCollision(RigidBody& body1, const SimdVector3& pos1,
// if (rel_vel< 0.f)//-SIMD_EPSILON)
// {
SimdScalar rest = restitutionCurve(rel_vel, solverInfo.m_restitution);
float combinedRestitution = body1.getRestitution() * body2.getRestitution();
SimdScalar timeCorrection = 1.f;///timeStep;
SimdScalar rest = restitutionCurve(rel_vel, combinedRestitution);
SimdScalar timeCorrection = 360.f*solverInfo.m_timeStep;
float damping = solverInfo.m_damping ;
float tau = solverInfo.m_tau;
@@ -252,7 +268,9 @@ SimdScalar rel_vel;
// if (rel_vel< 0.f)//-SIMD_EPSILON)
// {
SimdScalar rest = restitutionCurve(rel_vel, solverInfo.m_restitution);
float combinedRestitution = body1.getRestitution() * body2.getRestitution();
SimdScalar rest = restitutionCurve(rel_vel, combinedRestitution);
// SimdScalar massTerm = 1.f / (body1.getInvMass() + body2.getInvMass());
SimdScalar timeCorrection = 0.5f / solverInfo.m_timeStep ;
@@ -302,6 +320,8 @@ SimdScalar rel_vel;
SimdVector3 lat_vel = vel - normal * rel_vel;
SimdScalar lat_rel_vel = lat_vel.length();
float combinedFriction = calculateCombinedFriction(body1,body2);
if (lat_rel_vel > SIMD_EPSILON)
{
lat_vel /= lat_rel_vel;
@@ -310,7 +330,7 @@ SimdScalar rel_vel;
friction_impulse = lat_rel_vel /
(body1.getInvMass() + body2.getInvMass() + lat_vel.dot(temp1.cross(rel_pos1) + temp2.cross(rel_pos2)));
SimdScalar normal_impulse = (penetrationImpulse+
velocityImpulse) * solverInfo.m_friction;
velocityImpulse) * combinedFriction;
GEN_set_min(friction_impulse, normal_impulse);
body1.applyImpulse(lat_vel * -friction_impulse, rel_pos1);

30
extern/bullet/BulletDynamics/ConstraintSolver/OdeConstraintSolver.cpp vendored
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@@ -19,6 +19,8 @@
#include "Dynamics/BU_Joint.h"
#include "Dynamics/ContactJoint.h"
#include "IDebugDraw.h"
#define USE_SOR_SOLVER
#include "SorLcp.h"
@@ -41,8 +43,7 @@ class BU_Joint;
//see below
int gCurBody = 0;
int gCurJoint= 0;
int ConvertBody(RigidBody* body,RigidBody** bodies,int& numBodies);
void ConvertConstraint(PersistentManifold* manifold,BU_Joint** joints,int& numJoints,
@@ -53,10 +54,10 @@ void ConvertConstraint(PersistentManifold* manifold,BU_Joint** joints,int& numJo
//iterative lcp and penalty method
float OdeConstraintSolver::SolveGroup(PersistentManifold** manifoldPtr, int numManifolds,const ContactSolverInfo& infoGlobal)
float OdeConstraintSolver::SolveGroup(PersistentManifold** manifoldPtr, int numManifolds,const ContactSolverInfo& infoGlobal,IDebugDraw* debugDrawer)
{
gCurBody = 0;
gCurJoint = 0;
m_CurBody = 0;
m_CurJoint = 0;
float cfm = 1e-5f;
float erp = 0.2f;
@@ -77,7 +78,7 @@ float OdeConstraintSolver::SolveGroup(PersistentManifold** manifoldPtr, int numM
{
body0 = ConvertBody((RigidBody*)manifold->GetBody0(),bodies,numBodies);
body1 = ConvertBody((RigidBody*)manifold->GetBody1(),bodies,numBodies);
ConvertConstraint(manifold,joints,numJoints,bodies,body0,body1);
ConvertConstraint(manifold,joints,numJoints,bodies,body0,body1,debugDrawer);
}
}
@@ -112,7 +113,7 @@ void dRfromQ1 (dMatrix3 R, const dQuaternion q)
int ConvertBody(RigidBody* body,RigidBody** bodies,int& numBodies)
int OdeConstraintSolver::ConvertBody(RigidBody* body,RigidBody** bodies,int& numBodies)
{
if (!body || (body->getInvMass() == 0.f) )
{
@@ -195,8 +196,8 @@ int ConvertBody(RigidBody* body,RigidBody** bodies,int& numBodies)
static ContactJoint gJointArray[MAX_JOINTS_1];
void ConvertConstraint(PersistentManifold* manifold,BU_Joint** joints,int& numJoints,
RigidBody** bodies,int _bodyId0,int _bodyId1)
void OdeConstraintSolver::ConvertConstraint(PersistentManifold* manifold,BU_Joint** joints,int& numJoints,
RigidBody** bodies,int _bodyId0,int _bodyId1,IDebugDraw* debugDrawer)
{
@@ -228,14 +229,21 @@ void ConvertConstraint(PersistentManifold* manifold,BU_Joint** joints,int& numJo
assert(bodyId0 >= 0);
SimdVector3 color(0,1,0);
for (i=0;i<numContacts;i++)
{
assert (gCurJoint < MAX_JOINTS_1);
if (debugDrawer)
{
debugDrawer->DrawLine(manifold->GetContactPoint(i).m_positionWorldOnA,manifold->GetContactPoint(i).m_positionWorldOnB,color);
debugDrawer->DrawLine(manifold->GetContactPoint(i).m_positionWorldOnA,manifold->GetContactPoint(i).m_positionWorldOnB,color);
}
assert (m_CurJoint < MAX_JOINTS_1);
if (manifold->GetContactPoint(i).GetDistance() < 0.f)
{
ContactJoint* cont = new (&gJointArray[gCurJoint++]) ContactJoint( manifold ,i, swapBodies,body0,body1);
ContactJoint* cont = new (&gJointArray[m_CurJoint++]) ContactJoint( manifold ,i, swapBodies,body0,body1);
cont->node[0].joint = cont;
cont->node[0].body = bodyId0 >= 0 ? bodies[bodyId0] : 0;

15
extern/bullet/BulletDynamics/ConstraintSolver/OdeConstraintSolver.h vendored
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@@ -13,15 +13,28 @@
#include "ConstraintSolver.h"
class RigidBody;
class BU_Joint;
/// OdeConstraintSolver is one of the available solvers for Bullet dynamics framework
/// It uses the the unmodified version of quickstep solver from the open dynamics project
class OdeConstraintSolver : public ConstraintSolver
{
private:
int m_CurBody;
int m_CurJoint;
int ConvertBody(RigidBody* body,RigidBody** bodies,int& numBodies);
void ConvertConstraint(PersistentManifold* manifold,BU_Joint** joints,int& numJoints,
RigidBody** bodies,int _bodyId0,int _bodyId1,IDebugDraw* debugDrawer);
public:
virtual ~OdeConstraintSolver() {}
virtual float SolveGroup(PersistentManifold** manifold,int numManifolds,const ContactSolverInfo& info);
virtual float SolveGroup(PersistentManifold** manifold,int numManifolds,const ContactSolverInfo& info,IDebugDraw* debugDrawer = 0);
};

2
extern/bullet/BulletDynamics/ConstraintSolver/Point2PointConstraint.cpp vendored
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@@ -13,7 +13,7 @@
#include "Dynamics/MassProps.h"
static RigidBody s_fixed(MassProps(0,SimdVector3(0.f,0.f,0.f)),0.f,0.f);
static RigidBody s_fixed(MassProps(0,SimdVector3(0.f,0.f,0.f)),0.f,0.f,1.f,1.f);
Point2PointConstraint::Point2PointConstraint():
m_rbA(s_fixed),m_rbB(s_fixed)

12
extern/bullet/BulletDynamics/ConstraintSolver/SimpleConstraintSolver.cpp vendored
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@@ -16,6 +16,7 @@
#include "ContactSolverInfo.h"
#include "Dynamics/BU_Joint.h"
#include "Dynamics/ContactJoint.h"
#include "IDebugDraw.h"
//debugging
bool doApplyImpulse = true;
@@ -28,7 +29,7 @@ bool useImpulseFriction = true;//true;//false;
//iterative lcp and penalty method
float SimpleConstraintSolver::SolveGroup(PersistentManifold** manifoldPtr, int numManifolds,const ContactSolverInfo& infoGlobal)
float SimpleConstraintSolver::SolveGroup(PersistentManifold** manifoldPtr, int numManifolds,const ContactSolverInfo& infoGlobal,IDebugDraw* debugDrawer)
{
ContactSolverInfo info = infoGlobal;
@@ -41,7 +42,7 @@ float SimpleConstraintSolver::SolveGroup(PersistentManifold** manifoldPtr, int n
{
for (int j=0;j<numManifolds;j++)
{
Solve(manifoldPtr[j],info,i);
Solve(manifoldPtr[j],info,i,debugDrawer);
}
}
return 0.f;
@@ -51,7 +52,7 @@ float SimpleConstraintSolver::SolveGroup(PersistentManifold** manifoldPtr, int n
float penetrationResolveFactor = 0.9f;
float SimpleConstraintSolver::Solve(PersistentManifold* manifoldPtr, const ContactSolverInfo& info,int iter)
float SimpleConstraintSolver::Solve(PersistentManifold* manifoldPtr, const ContactSolverInfo& info,int iter,IDebugDraw* debugDrawer)
{
RigidBody* body0 = (RigidBody*)manifoldPtr->GetBody0();
@@ -73,6 +74,7 @@ float SimpleConstraintSolver::Solve(PersistentManifold* manifoldPtr, const Conta
{
const int numpoints = manifoldPtr->GetNumContacts();
SimdVector3 color(0,1,0);
for (int i=0;i<numpoints ;i++)
{
@@ -84,6 +86,10 @@ float SimpleConstraintSolver::Solve(PersistentManifold* manifoldPtr, const Conta
ManifoldPoint& cp = manifoldPtr->GetContactPoint(j);
if (debugDrawer)
debugDrawer->DrawLine(cp.m_positionWorldOnA,cp.m_positionWorldOnB,color);
{

8
extern/bullet/BulletDynamics/ConstraintSolver/SimpleConstraintSolver.h vendored
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@@ -12,17 +12,19 @@
#define SIMPLE_CONSTRAINT_SOLVER_H
#include "ConstraintSolver.h"
class IDebugDraw;
/// SimpleConstraintSolver uses a Propagation Method
/// Applies impulses for combined restitution and penetration recovery and to simulate friction
class SimpleConstraintSolver : public ConstraintSolver
{
float Solve(PersistentManifold* manifold, const ContactSolverInfo& info,int iter);
float Solve(PersistentManifold* manifold, const ContactSolverInfo& info,int iter,IDebugDraw* debugDrawer);
public:
virtual ~SimpleConstraintSolver() {}
virtual float SolveGroup(PersistentManifold** manifold,int numManifolds,const ContactSolverInfo& info);
virtual float SolveGroup(PersistentManifold** manifold,int numManifolds,const ContactSolverInfo& info, IDebugDraw* debugDrawer=0);
};

14
extern/bullet/BulletDynamics/Dynamics/ContactJoint.cpp vendored
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@@ -15,7 +15,7 @@ m_body1(body1)
int m_numRows = 3;
float gContactFrictionFactor = 30.5f;//100.f;//1e30f;//2.9f;
//float gContactFrictionFactor = 0.f;//12.f;//30.5f;//100.f;//1e30f;//2.9f;
@@ -149,6 +149,9 @@ void ContactJoint::GetInfo2(Info2 *info)
c2[0] = ccc2[0];
c2[1] = ccc2[1];
c2[2] = ccc2[2];
float friction = m_body0->getFriction() * m_body1->getFriction();
// first friction direction
if (m_numRows >= 2)
{
@@ -175,8 +178,9 @@ void ContactJoint::GetInfo2(Info2 *info)
// mode
//1e30f
info->lo[1] = -gContactFrictionFactor;//-j->contact.surface.mu;
info->hi[1] = gContactFrictionFactor;//j->contact.surface.mu;
info->lo[1] = -friction;//-j->contact.surface.mu;
info->hi[1] = friction;//j->contact.surface.mu;
if (0)//j->contact.surface.mode & dContactApprox1_1)
info->findex[1] = 0;
@@ -210,8 +214,8 @@ void ContactJoint::GetInfo2(Info2 *info)
//info->hi[2] = j->contact.surface.mu2;
}
else {
info->lo[2] = -gContactFrictionFactor;
info->hi[2] = gContactFrictionFactor;
info->lo[2] = -friction;
info->hi[2] = friction;
}
if (0)//j->contact.surface.mode & dContactApprox1_2)

6
extern/bullet/BulletDynamics/Dynamics/RigidBody.cpp vendored
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@@ -7,7 +7,7 @@
float gRigidBodyDamping = 0.5f;
static int uniqueId = 0;
RigidBody::RigidBody( const MassProps& massProps,SimdScalar linearDamping,SimdScalar angularDamping)
RigidBody::RigidBody( const MassProps& massProps,SimdScalar linearDamping,SimdScalar angularDamping,SimdScalar friction,SimdScalar restitution)
: m_collisionShape(0),
m_activationState1(1),
m_hitFraction(1.f),
@@ -17,7 +17,9 @@ RigidBody::RigidBody( const MassProps& massProps,SimdScalar linearDamping,SimdSc
m_totalForce(0.0f, 0.0f, 0.0f),
m_totalTorque(0.0f, 0.0f, 0.0f),
m_linearVelocity(0.0f, 0.0f, 0.0f),
m_angularVelocity(0.f,0.f,0.f)
m_angularVelocity(0.f,0.f,0.f),
m_restitution(restitution),
m_friction(friction)
{
m_debugBodyId = uniqueId++;

20
extern/bullet/BulletDynamics/Dynamics/RigidBody.h vendored
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@@ -15,7 +15,7 @@ typedef SimdScalar dMatrix3[4*3];
class RigidBody {
public:
RigidBody(const MassProps& massProps,SimdScalar linearDamping,SimdScalar angularDamping);
RigidBody(const MassProps& massProps,SimdScalar linearDamping,SimdScalar angularDamping,SimdScalar friction,SimdScalar restitution);
void proceedToTransform(const SimdTransform& newTrans);
@@ -123,6 +123,22 @@ public:
int GetActivationState() const { return m_activationState1;}
void SetActivationState(int newState);
void setRestitution(float rest)
{
m_restitution = rest;
}
float getRestitution() const
{
return m_restitution;
}
void setFriction(float frict)
{
m_friction = frict;
}
float getFriction() const
{
return m_friction;
}
private:
SimdTransform m_worldTransform;
@@ -141,6 +157,8 @@ private:
SimdScalar m_angularDamping;
SimdScalar m_inverseMass;
SimdScalar m_friction;
SimdScalar m_restitution;
CollisionShape* m_collisionShape;

2
extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp vendored
View File

@@ -7,7 +7,7 @@
class BP_Proxy;
bool gEnableSleeping = true;//false;//true;
bool gEnableSleeping = false;//false;//true;
#include "Dynamics/MassProps.h"
SimdVector3 startVel(0,0,0);//-10000);

75
extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp vendored
View File

@@ -14,6 +14,7 @@
#include "ConstraintSolver/OdeConstraintSolver.h"
#include "ConstraintSolver/SimpleConstraintSolver.h"
#include "IDebugDraw.h"
#include "CollisionDispatch/ToiContactDispatcher.h"
@@ -32,7 +33,7 @@ bool useIslands = true;
//#include "BroadphaseCollision/QueryBox.h"
//todo: change this to allow dynamic registration of types!
unsigned long gNumIterations = 10;
unsigned long gNumIterations = 1;
#ifdef WIN32
void DrawRasterizerLine(const float* from,const float* to,int color);
@@ -47,6 +48,43 @@ void DrawRasterizerLine(const float* from,const float* to,int color);
static void DrawAabb(IDebugDraw* debugDrawer,const SimdVector3& from,const SimdVector3& to,const SimdVector3& color)
{
SimdVector3 halfExtents = (to-from)* 0.5f;
SimdVector3 center = (to+from) *0.5f;
int i,j;
SimdVector3 edgecoord(1.f,1.f,1.f),pa,pb;
for (i=0;i<4;i++)
{
for (j=0;j<3;j++)
{
pa = SimdVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1],
edgecoord[2]*halfExtents[2]);
pa+=center;
int othercoord = j%3;
edgecoord[othercoord]*=-1.f;
pb = SimdVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1],
edgecoord[2]*halfExtents[2]);
pb+=center;
debugDrawer->DrawLine(pa,pb,color);
}
edgecoord = SimdVector3(-1.f,-1.f,-1.f);
if (i<3)
edgecoord[i]*=-1.f;
}
}
CcdPhysicsEnvironment::CcdPhysicsEnvironment(ToiContactDispatcher* dispatcher,BroadphaseInterface* bp)
:m_dispatcher(dispatcher),
m_broadphase(bp),
@@ -276,10 +314,6 @@ bool CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
//m_scalingPropagated = true;
}
#ifdef EXTRA_PHYSICS_PROFILE
cpuProfile.begin("integrate force");
#endif //EXTRA_PHYSICS_PROFILE
{
@@ -301,9 +335,6 @@ bool CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
}
}
#ifdef EXTRA_PHYSICS_PROFILE
cpuProfile.end("integrate force");
#endif //EXTRA_PHYSICS_PROFILE
BroadphaseInterface* scene = m_broadphase;
@@ -321,33 +352,21 @@ bool CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
DispatcherInfo dispatchInfo;
dispatchInfo.m_timeStep = timeStep;
dispatchInfo.m_stepCount = 0;
#ifdef EXTRA_PHYSICS_PROFILE
cpuProfile.begin("cd");
#endif //EXTRA_PHYSICS_PROFILE
scene->DispatchAllCollisionPairs(*m_dispatcher,dispatchInfo);///numsubstep,g);
#ifdef EXTRA_PHYSICS_PROFILE
cpuProfile.end("cd");
#endif //EXTRA_PHYSICS_PROFILE
#ifdef EXTRA_PHYSICS_PROFILE
cpuProfile.begin("solver");
#endif //EXTRA_PHYSICS_PROFILE
int numRigidBodies = m_controllers.size();
UpdateActivationState();
//contacts
m_dispatcher->SolveConstraints(timeStep, gNumIterations ,numRigidBodies);
#ifdef EXTRA_PHYSICS_PROFILE
cpuProfile.end("solver");
#endif //EXTRA_PHYSICS_PROFILE
m_dispatcher->SolveConstraints(timeStep, gNumIterations ,numRigidBodies,m_debugDrawer);
for (int g=0;g<numsubstep;g++)
{
@@ -402,10 +421,16 @@ bool CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
SimdPoint3 minAabb,maxAabb;
CollisionShape* shapeinterface = ctrl->GetCollisionShape();
shapeinterface->CalculateTemporalAabb(body->getCenterOfMassTransform(),
body->getLinearVelocity(),body->getAngularVelocity(),
timeStep,minAabb,maxAabb);
shapeinterface->GetAabb(body->getCenterOfMassTransform(),
minAabb,maxAabb);
BroadphaseProxy* bp = (BroadphaseProxy*) ctrl->m_broadphaseHandle;
if (bp)
@@ -413,8 +438,12 @@ bool CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
#ifdef WIN32
SimdVector3 color (1,0,0);
if (m_debugDrawer)
m_debugDrawer->DrawLine(minAabb,maxAabb,color);
if (0)//m_debugDrawer)
{
//draw aabb
DrawAabb(m_debugDrawer,minAabb,maxAabb,color);
}
#endif
scene->SetAabb(bp,minAabb,maxAabb);
}

9
extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.h vendored
View File

@@ -6,10 +6,6 @@
class CcdPhysicsController;
#include "SimdVector3.h"
struct PHY_IPhysicsDebugDraw
{
virtual void DrawLine(const SimdVector3& from,const SimdVector3& to,const SimdVector3& color)=0;
};
class Point2PointConstraint;
@@ -20,6 +16,7 @@ class Dispatcher;
class Vehicle;
class PersistentManifold;
class BroadphaseInterface;
class IDebugDraw;
/// Physics Environment takes care of stepping the simulation and is a container for physics entities.
/// It stores rigidbodies,constraints, materials etc.
@@ -28,7 +25,7 @@ class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
{
SimdVector3 m_gravity;
BroadphaseInterface* m_broadphase;
PHY_IPhysicsDebugDraw* m_debugDrawer;
IDebugDraw* m_debugDrawer;
public:
CcdPhysicsEnvironment(ToiContactDispatcher* dispatcher=0, BroadphaseInterface* broadphase=0);
@@ -41,7 +38,7 @@ class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
/// Perform an integration step of duration 'timeStep'.
virtual void setDebugDrawer(PHY_IPhysicsDebugDraw* debugDrawer)
virtual void setDebugDrawer(IDebugDraw* debugDrawer)
{
m_debugDrawer = debugDrawer;
}

42
extern/bullet/LinearMath/IDebugDraw.h vendored Normal file
View File

@@ -0,0 +1,42 @@
/*
Copyright (c) 2005 Gino van den Bergen / Erwin Coumans <www.erwincoumans.com>
Permission is hereby granted, free of charge, to any person or organization
obtaining a copy of the software and accompanying documentation covered by
this license (the "Software") to use, reproduce, display, distribute,
execute, and transmit the Software, and to prepare derivative works of the
Software, and to permit third-parties to whom the Software is furnished to
do so, all subject to the following:
The copyright notices in the Software and this entire statement, including
the above license grant, this restriction and the following disclaimer,
must be included in all copies of the Software, in whole or in part, and
all derivative works of the Software, unless such copies or derivative
works are solely in the form of machine-executable object code generated by
a source language processor.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
DEALINGS IN THE SOFTWARE.
*/
#ifndef IDEBUG_DRAW__H
#define IDEBUG_DRAW__H
#include "SimdVector3.h"
class IDebugDraw
{
public:
virtual void DrawLine(const SimdVector3& from,const SimdVector3& to,const SimdVector3& color)=0;
virtual void SetDebugMode(int debugMode) =0;
};
#endif //IDEBUG_DRAW__H

19
source/gameengine/Converter/KX_BlenderSceneConverter.cpp
View File

@@ -173,9 +173,21 @@ static struct Scene *GetSceneForName2(struct Main *maggie, const STR_String& sce
#include "KX_PythonInit.h"
#ifdef USE_BULLET
struct BlenderDebugDraw : public PHY_IPhysicsDebugDraw
#include "IDebugDraw.h"
struct BlenderDebugDraw : public IDebugDraw
{
BlenderDebugDraw () :
m_debugMode(0)
{
}
int m_debugMode;
virtual void DrawLine(const SimdVector3& from,const SimdVector3& to,const SimdVector3& color)
{
if (m_debugMode == 1)
{
MT_Vector3 kxfrom(from[0],from[1],from[2]);
MT_Vector3 kxto(to[0],to[1],to[2]);
@@ -183,6 +195,11 @@ struct BlenderDebugDraw : public PHY_IPhysicsDebugDraw
KX_RasterizerDrawDebugLine(kxfrom,kxto,kxcolor);
}
}
virtual void SetDebugMode(int debugMode)
{
m_debugMode = debugMode;
}
};
#endif

13
source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
View File

@@ -133,7 +133,7 @@ void KX_ConvertSumoObject( KX_GameObject* gameobj,
smmaterial->m_fh_normal = kxmaterial->m_fh_normal;
smmaterial->m_fh_spring = kxmaterial->m_fh_spring;
smmaterial->m_friction = kxmaterial->m_friction;
smmaterial->m_restitution = kxmaterial->m_restitution;
smmaterial->m_restitution = 0.f;//kxmaterial->m_restitution;
SumoPhysicsEnvironment* sumoEnv =
(SumoPhysicsEnvironment*)kxscene->GetPhysicsEnvironment();
@@ -911,9 +911,8 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj,
halfExtents /= 2.f;
SimdVector3 he (halfExtents[0]-CONVEX_DISTANCE_MARGIN ,halfExtents[1]-CONVEX_DISTANCE_MARGIN ,halfExtents[2]-CONVEX_DISTANCE_MARGIN );
he = he.absolute();
//todo: do this conversion internally !
SimdVector3 he (halfExtents[0],halfExtents[1],halfExtents[2]);
bm = new BoxShape(he);
bm->CalculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor);
@@ -957,7 +956,7 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj,
if (bm)
{
bm->CalculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor);
bm->SetMargin(0.f);
bm->SetMargin(0.05f);
}
break;
}
@@ -1005,8 +1004,8 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj,
ci.m_restitution = smmaterial->m_restitution;
ci.m_linearDamping = shapeprops->m_lin_drag;
ci.m_angularDamping = shapeprops->m_ang_drag;
ci.m_linearDamping = 0.5;//shapeprops->m_lin_drag;
ci.m_angularDamping = 0.5f;//shapeprops->m_ang_drag;
KX_BulletPhysicsController* physicscontroller = new KX_BulletPhysicsController(ci,dyna);
env->addCcdPhysicsController( physicscontroller);

18
source/gameengine/Ketsji/KX_PythonInit.cpp
View File

@@ -62,7 +62,7 @@
#include "KX_PyMath.h"
#include "SumoPhysicsEnvironment.h"
#include "PHY_IPhysicsEnvironment.h"
// FIXME: Enable for access to blender python modules. This is disabled because
// python has dependencies on a lot of other modules and is a pain to link.
//#define USE_BLENDER_PYTHON
@@ -227,6 +227,22 @@ static PyObject* gPySetPhysicsTicRate(PyObject*,
return NULL;
}
static PyObject* gPySetPhysicsDebug(PyObject*,
PyObject* args,
PyObject*)
{
int debugMode;
if (PyArg_ParseTuple(args, "i", &debugMode))
{
PHY_GetActiveEnvironment()->setDebugMode(debugMode);
Py_Return;
}
return NULL;
}
static PyObject* gPyGetPhysicsTicRate(PyObject*, PyObject*, PyObject*)
{
return PyFloat_FromDouble(PHY_GetActiveEnvironment()->getFixedTimeStep());

4
source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
View File

@@ -31,7 +31,7 @@ CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci)
MassProps mp(ci.m_mass, ci.m_localInertiaTensor);
m_body = new RigidBody(mp,0,0);
m_body = new RigidBody(mp,0,0,ci.m_friction,ci.m_restitution);
m_broadphaseHandle = ci.m_broadphaseHandle;
@@ -44,8 +44,6 @@ CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci)
m_body->setMassProps(ci.m_mass, ci.m_localInertiaTensor);
m_body->setGravity( ci.m_gravity);
m_friction = ci.m_friction;
m_restitution = ci.m_restitution;
m_body->setDamping(ci.m_linearDamping, ci.m_angularDamping);

6
source/gameengine/Physics/Bullet/CcdPhysicsController.h
View File

@@ -15,7 +15,6 @@ struct CcdConstructionInfo
CcdConstructionInfo()
: m_gravity(0,0,0),
m_mass(0.f),
m_friction(0.1f),
m_restitution(0.1f),
m_linearDamping(0.1f),
m_angularDamping(0.1f),
@@ -27,9 +26,8 @@ struct CcdConstructionInfo
SimdVector3 m_localInertiaTensor;
SimdVector3 m_gravity;
SimdScalar m_mass;
SimdScalar m_friction;
SimdScalar m_restitution;
SimdScalar m_friction;
SimdScalar m_linearDamping;
SimdScalar m_angularDamping;
void* m_broadphaseHandle;
@@ -54,8 +52,6 @@ class CcdPhysicsController : public PHY_IPhysicsController
int m_collisionDelay;
SimdScalar m_friction;
SimdScalar m_restitution;
void* m_broadphaseHandle;
CcdPhysicsController (const CcdConstructionInfo& ci);

50
source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
View File

@@ -14,6 +14,7 @@
#include "ConstraintSolver/OdeConstraintSolver.h"
#include "ConstraintSolver/SimpleConstraintSolver.h"
#include "IDebugDraw.h"
#include "CollisionDispatch/ToiContactDispatcher.h"
@@ -32,7 +33,7 @@ bool useIslands = true;
//#include "BroadphaseCollision/QueryBox.h"
//todo: change this to allow dynamic registration of types!
unsigned long gNumIterations = 10;
unsigned long gNumIterations = 20;
#ifdef WIN32
void DrawRasterizerLine(const float* from,const float* to,int color);
@@ -48,7 +49,7 @@ void DrawRasterizerLine(const float* from,const float* to,int color);
static void DrawAabb(PHY_IPhysicsDebugDraw* debugDrawer,const SimdVector3& from,const SimdVector3& to,const SimdVector3& color)
static void DrawAabb(IDebugDraw* debugDrawer,const SimdVector3& from,const SimdVector3& to,const SimdVector3& color)
{
SimdVector3 halfExtents = (to-from)* 0.5f;
SimdVector3 center = (to+from) *0.5f;
@@ -313,10 +314,6 @@ bool CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
//m_scalingPropagated = true;
}
#ifdef EXTRA_PHYSICS_PROFILE
cpuProfile.begin("integrate force");
#endif //EXTRA_PHYSICS_PROFILE
{
@@ -338,9 +335,6 @@ bool CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
}
}
#ifdef EXTRA_PHYSICS_PROFILE
cpuProfile.end("integrate force");
#endif //EXTRA_PHYSICS_PROFILE
BroadphaseInterface* scene = m_broadphase;
@@ -358,33 +352,22 @@ bool CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
DispatcherInfo dispatchInfo;
dispatchInfo.m_timeStep = timeStep;
dispatchInfo.m_stepCount = 0;
#ifdef EXTRA_PHYSICS_PROFILE
cpuProfile.begin("cd");
#endif //EXTRA_PHYSICS_PROFILE
scene->DispatchAllCollisionPairs(*m_dispatcher,dispatchInfo);///numsubstep,g);
#ifdef EXTRA_PHYSICS_PROFILE
cpuProfile.end("cd");
#endif //EXTRA_PHYSICS_PROFILE
#ifdef EXTRA_PHYSICS_PROFILE
cpuProfile.begin("solver");
#endif //EXTRA_PHYSICS_PROFILE
int numRigidBodies = m_controllers.size();
UpdateActivationState();
//contacts
m_dispatcher->SolveConstraints(timeStep, gNumIterations ,numRigidBodies);
#ifdef EXTRA_PHYSICS_PROFILE
cpuProfile.end("solver");
#endif //EXTRA_PHYSICS_PROFILE
m_dispatcher->SolveConstraints(timeStep, gNumIterations ,numRigidBodies,m_debugDrawer);
for (int g=0;g<numsubstep;g++)
{
@@ -558,6 +541,29 @@ bool CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
return true;
}
void CcdPhysicsEnvironment::setDebugMode(int debugMode)
{
if (debugMode > 10)
{
if (m_dispatcher)
delete m_dispatcher;
if (debugMode == 11)
{
SimpleConstraintSolver* solver= new SimpleConstraintSolver();
m_dispatcher = new ToiContactDispatcher(solver);
} else
{
OdeConstraintSolver* solver = new OdeConstraintSolver();
m_dispatcher = new ToiContactDispatcher(solver);
}
}
if (m_debugDrawer){
m_debugDrawer->SetDebugMode(debugMode);
}
}
void CcdPhysicsEnvironment::SyncMotionStates(float timeStep)
{
std::vector<CcdPhysicsController*>::iterator i;

13
source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
View File

@@ -6,10 +6,6 @@
class CcdPhysicsController;
#include "SimdVector3.h"
struct PHY_IPhysicsDebugDraw
{
virtual void DrawLine(const SimdVector3& from,const SimdVector3& to,const SimdVector3& color)=0;
};
class Point2PointConstraint;
@@ -20,6 +16,7 @@ class Dispatcher;
class Vehicle;
class PersistentManifold;
class BroadphaseInterface;
class IDebugDraw;
/// Physics Environment takes care of stepping the simulation and is a container for physics entities.
/// It stores rigidbodies,constraints, materials etc.
@@ -28,7 +25,7 @@ class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
{
SimdVector3 m_gravity;
BroadphaseInterface* m_broadphase;
PHY_IPhysicsDebugDraw* m_debugDrawer;
IDebugDraw* m_debugDrawer;
public:
CcdPhysicsEnvironment(ToiContactDispatcher* dispatcher=0, BroadphaseInterface* broadphase=0);
@@ -41,7 +38,7 @@ class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
/// Perform an integration step of duration 'timeStep'.
virtual void setDebugDrawer(PHY_IPhysicsDebugDraw* debugDrawer)
virtual void setDebugDrawer(IDebugDraw* debugDrawer)
{
m_debugDrawer = debugDrawer;
}
@@ -53,8 +50,11 @@ class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
virtual bool proceedDeltaTime(double curTime,float timeStep);
virtual void setFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep){};
//returns 0.f if no fixed timestep is used
virtual float getFixedTimeStep(){ return 0.f;};
virtual void setDebugMode(int debugMode);
virtual void setGravity(float x,float y,float z);
virtual int createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type,
@@ -116,6 +116,7 @@ class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
bool m_scalingPropagated;
};
#endif //CCDPHYSICSENVIRONMENT

2
source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h
View File

@@ -51,7 +51,7 @@ class PHY_IPhysicsEnvironment
//returns 0.f if no fixed timestep is used
virtual float getFixedTimeStep()=0;
virtual void setDebugMode(int debugMode) {}
virtual void setGravity(float x,float y,float z)=0;
virtual int createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type,