public virtual void CalculateSimulationIslands() { BulletGlobals.StartProfile("calculateSimulationIslands"); GetSimulationIslandManager().UpdateActivationState(GetCollisionWorld(), GetCollisionWorld().GetDispatcher()); { int length = m_constraints.Count; for (int i = 0; i < length; ++i) { TypedConstraint constraint = m_constraints[i]; RigidBody colObj0 = constraint.GetRigidBodyA(); RigidBody colObj1 = constraint.GetRigidBodyB(); if (((colObj0 != null) && (!colObj0.IsStaticOrKinematicObject())) && ((colObj1 != null) && (!colObj1.IsStaticOrKinematicObject()))) { if (colObj0.IsActive() || colObj1.IsActive()) { GetSimulationIslandManager().GetUnionFind().Unite((colObj0).GetIslandTag(), (colObj1).GetIslandTag()); } } } } //Store the island id in each body GetSimulationIslandManager().StoreIslandActivationState(GetCollisionWorld()); BulletGlobals.StopProfile(); }
public override void SynchronizeMotionStates() { if (m_synchronizeAllMotionStates) { //iterate over all collision objects int length = m_collisionObjects.Count; for (int i = 0; i < length; ++i) { RigidBody body = RigidBody.Upcast(m_collisionObjects[i]); if (body != null) { SynchronizeSingleMotionState(body); } } } else { //iterate over all active rigid bodies int length = m_nonStaticRigidBodies.Count; for (int i = 0; i < length; ++i) { RigidBody body = m_nonStaticRigidBodies[i]; if (body.IsActive()) { SynchronizeSingleMotionState(body); } } } }
///apply gravity, call this once per timestep public virtual void ApplyGravity() { int length = m_nonStaticRigidBodies.Count; for (int i = 0; i < length; ++i) { RigidBody body = m_nonStaticRigidBodies[i]; if (body != null && body.IsActive()) { body.ApplyGravity(); } } }
public override void SetGravity(ref IndexedVector3 gravity) { m_gravity = gravity; int length = m_nonStaticRigidBodies.Count; for (int i = 0; i < length; ++i) { RigidBody body = m_nonStaticRigidBodies[i]; if (body.IsActive() && ((body.GetFlags() & RigidBodyFlags.BT_DISABLE_WORLD_GRAVITY) == 0)) { body.SetGravity(ref gravity); } } }
public void IntegrateTransforms(float timeStep) { IndexedMatrix predictedTrans; foreach (CollisionObject colObj in m_collisionObjects) { RigidBody body = RigidBody.Upcast(colObj); if (body != null) { if (body.IsActive() && (!body.IsStaticObject())) { body.PredictIntegratedTransform(timeStep, out predictedTrans); body.ProceedToTransform(ref predictedTrans); } } } }
public override void UpdateAabbs() { //IndexedMatrix predictedTrans = IndexedMatrix.Identity; foreach (CollisionObject colObj in m_collisionObjects) { RigidBody body = RigidBody.Upcast(colObj); if (body != null) { if (body.IsActive() && (!body.IsStaticObject())) { IndexedVector3 minAabb; IndexedVector3 maxAabb; colObj.GetCollisionShape().GetAabb(colObj.GetWorldTransform(), out minAabb, out maxAabb); IBroadphaseInterface bp = GetBroadphase(); bp.SetAabb(body.GetBroadphaseHandle(), ref minAabb, ref maxAabb, m_dispatcher1); } } } }
public void PredictUnconstraintMotion(float timeStep) { foreach (CollisionObject colObj in m_collisionObjects) { RigidBody body = RigidBody.Upcast(colObj); if (body != null) { if (!body.IsStaticObject()) { if (body.IsActive()) { body.ApplyGravity(); body.IntegrateVelocities(timeStep); body.ApplyDamping(timeStep); IndexedMatrix temp = body.GetInterpolationWorldTransform(); body.PredictIntegratedTransform(timeStep, out temp); body.SetInterpolationWorldTransform(ref temp); } } } } }
public virtual void IntegrateTransforms(float timeStep) { BulletGlobals.StartProfile("integrateTransforms"); IndexedMatrix predictedTrans; int length = m_nonStaticRigidBodies.Count; #if DEBUG if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugDiscreteDynamicsWorld) { BulletGlobals.g_streamWriter.WriteLine("IntegrateTransforms [{0}]", length); } #endif for (int i = 0; i < length; ++i) { RigidBody body = m_nonStaticRigidBodies[i]; if (body != null) { body.SetHitFraction(1f); if (body.IsActive() && (!body.IsStaticOrKinematicObject())) { body.PredictIntegratedTransform(timeStep, out predictedTrans); float squareMotion = (predictedTrans._origin - body.GetWorldTransform()._origin).LengthSquared(); //if (body.GetCcdSquareMotionThreshold() != 0 && body.GetCcdSquareMotionThreshold() < squareMotion) if (GetDispatchInfo().m_useContinuous&& body.GetCcdSquareMotionThreshold() != 0.0f && body.GetCcdSquareMotionThreshold() < squareMotion) { BulletGlobals.StartProfile("CCD motion clamping"); if (body.GetCollisionShape().IsConvex()) { gNumClampedCcdMotions++; using (ClosestNotMeConvexResultCallback sweepResults = BulletGlobals.ClosestNotMeConvexResultCallbackPool.Get()) { sweepResults.Initialize(body, body.GetWorldTransform()._origin, predictedTrans._origin, GetBroadphase().GetOverlappingPairCache(), GetDispatcher()); //btConvexShape* convexShape = static_cast<btConvexShape*>(body.GetCollisionShape()); SphereShape tmpSphere = BulletGlobals.SphereShapePool.Get(); tmpSphere.Initialize(body.GetCcdSweptSphereRadius());//btConvexShape* convexShape = static_cast<btConvexShape*>(body.GetCollisionShape()); sweepResults.m_allowedPenetration = GetDispatchInfo().GetAllowedCcdPenetration(); sweepResults.m_collisionFilterGroup = body.GetBroadphaseProxy().m_collisionFilterGroup; sweepResults.m_collisionFilterMask = body.GetBroadphaseProxy().m_collisionFilterMask; IndexedMatrix modifiedPredictedTrans = predictedTrans; modifiedPredictedTrans._basis = body.GetWorldTransform()._basis; modifiedPredictedTrans._origin = predictedTrans._origin; ConvexSweepTest(tmpSphere, body.GetWorldTransform(), modifiedPredictedTrans, sweepResults, 0f); if (sweepResults.HasHit() && (sweepResults.m_closestHitFraction < 1.0f)) { //printf("clamped integration to hit fraction = %f\n",fraction); body.SetHitFraction(sweepResults.m_closestHitFraction); body.PredictIntegratedTransform(timeStep * body.GetHitFraction(), out predictedTrans); body.SetHitFraction(0.0f); body.ProceedToTransform(ref predictedTrans); #if false btVector3 linVel = body.getLinearVelocity(); float maxSpeed = body.getCcdMotionThreshold() / getSolverInfo().m_timeStep; float maxSpeedSqr = maxSpeed * maxSpeed; if (linVel.LengthSquared() > maxSpeedSqr) { linVel.normalize(); linVel *= maxSpeed; body.setLinearVelocity(linVel); float ms2 = body.getLinearVelocity().LengthSquared(); body.predictIntegratedTransform(timeStep, predictedTrans); float sm2 = (predictedTrans._origin - body.GetWorldTransform()._origin).LengthSquared(); float smt = body.getCcdSquareMotionThreshold(); printf("sm2=%f\n", sm2); } #else //response between two dynamic objects without friction, assuming 0 penetration depth float appliedImpulse = 0.0f; float depth = 0.0f; appliedImpulse = ContactConstraint.ResolveSingleCollision(body, sweepResults.m_hitCollisionObject, ref sweepResults.m_hitPointWorld, ref sweepResults.m_hitNormalWorld, GetSolverInfo(), depth); #endif continue; } BulletGlobals.SphereShapePool.Free(tmpSphere); } } BulletGlobals.StopProfile(); } body.ProceedToTransform(ref predictedTrans); } } } }