Scarfski/bullet3
1
0
Fork 0
mirror of https://github.com/bulletphysics/bullet3.git synced 2026-09-30 05:56:00 +00:00
Code Issues Packages Projects Releases Wiki Activity

Merge remote-tracking branch 'origin/master' into splitImpulse

Browse Source
This commit is contained in:
Xuchen Han
2020-04-27 20:29:06 -07:00
parent cfbcedeac9 cd8cf7521c
commit eefec255cf
126 changed files with 563 additions and 70 deletions
Download Patch File Download Diff File Expand all files Collapse all files

11
src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
View File

@@ -61,7 +61,8 @@ public:
virtual void cleanOverlappingPair(btBroadphasePair& pair, btDispatcher* dispatcher) = 0;
virtual int getNumOverlappingPairs() const = 0;
virtual bool needsBroadphaseCollision(btBroadphaseProxy * proxy0, btBroadphaseProxy * proxy1) const = 0;
virtual btOverlapFilterCallback* getOverlapFilterCallback() = 0;
virtual void cleanProxyFromPairs(btBroadphaseProxy* proxy, btDispatcher* dispatcher) = 0;
virtual void setOverlapFilterCallback(btOverlapFilterCallback* callback) = 0;
@@ -380,6 +381,14 @@ public:
{
}
bool needsBroadphaseCollision(btBroadphaseProxy*, btBroadphaseProxy*) const
{
return true;
}
btOverlapFilterCallback* getOverlapFilterCallback()
{
return 0;
}
virtual void setOverlapFilterCallback(btOverlapFilterCallback* /*callback*/)
{
}

8
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
View File

@@ -800,6 +800,14 @@ public:
///don't do CCD when the collision filters are not matching
if (!ClosestConvexResultCallback::needsCollision(proxy0))
return false;
if (m_pairCache->getOverlapFilterCallback()) {
btBroadphaseProxy* proxy1 = m_me->getBroadphaseHandle();
bool collides = m_pairCache->needsBroadphaseCollision(proxy0, proxy1);
if (!collides)
{
return false;
}
}
btCollisionObject* otherObj = (btCollisionObject*)proxy0->m_clientObject;

3
src/BulletDynamics/Dynamics/btRigidBody.cpp
View File

@@ -384,6 +384,9 @@ void btRigidBody::integrateVelocities(btScalar step)
{
m_angularVelocity *= (MAX_ANGVEL / step) / angvel;
}
#if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
clampVelocity(m_angularVelocity);
#endif
}
btQuaternion btRigidBody::getOrientation() const

43
src/BulletDynamics/Dynamics/btRigidBody.h
View File

@@ -305,6 +305,9 @@ public:
void applyTorque(const btVector3& torque)
{
m_totalTorque += torque * m_angularFactor;
#if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
clampVelocity(m_totalTorque);
#endif
}
void applyForce(const btVector3& force, const btVector3& rel_pos)
@@ -316,11 +319,17 @@ public:
void applyCentralImpulse(const btVector3& impulse)
{
m_linearVelocity += impulse * m_linearFactor * m_inverseMass;
#if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
clampVelocity(m_linearVelocity);
#endif
}
void applyTorqueImpulse(const btVector3& torque)
{
m_angularVelocity += m_invInertiaTensorWorld * torque * m_angularFactor;
#if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
clampVelocity(m_angularVelocity);
#endif
}
void applyImpulse(const btVector3& impulse, const btVector3& rel_pos)
@@ -361,20 +370,46 @@ public:
{
m_pushVelocity = v;
}
#if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
void clampVelocity(btVector3& v) const {
v.setX(
fmax(-BT_CLAMP_VELOCITY_TO,
fmin(BT_CLAMP_VELOCITY_TO, v.getX()))
);
v.setY(
fmax(-BT_CLAMP_VELOCITY_TO,
fmin(BT_CLAMP_VELOCITY_TO, v.getY()))
);
v.setZ(
fmax(-BT_CLAMP_VELOCITY_TO,
fmin(BT_CLAMP_VELOCITY_TO, v.getZ()))
);
}
#endif
void setTurnVelocity(const btVector3& v)
{
m_turnVelocity = v;
#if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
clampVelocity(m_turnVelocity);
#endif
}
void applyCentralPushImpulse(const btVector3& impulse)
{
m_pushVelocity += impulse * m_linearFactor * m_inverseMass;
#if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
clampVelocity(m_pushVelocity);
#endif
}
void applyTorqueTurnImpulse(const btVector3& torque)
{
m_turnVelocity += m_invInertiaTensorWorld * torque * m_angularFactor;
#if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
clampVelocity(m_turnVelocity);
#endif
}
void clearForces()
@@ -408,12 +443,18 @@ public:
{
m_updateRevision++;
m_linearVelocity = lin_vel;
#if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
clampVelocity(m_linearVelocity);
#endif
}
inline void setAngularVelocity(const btVector3& ang_vel)
{
m_updateRevision++;
m_angularVelocity = ang_vel;
#if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
clampVelocity(m_angularVelocity);
#endif
}
btVector3 getVelocityInLocalPoint(const btVector3& rel_pos) const

4
src/BulletSoftBody/btSoftBody.cpp
View File

@@ -29,6 +29,10 @@ subject to the following restrictions:
static inline btDbvtNode* buildTreeBottomUp(btAlignedObjectArray<btDbvtNode*>& leafNodes, btAlignedObjectArray<btAlignedObjectArray<int> >& adj)
{
int N = leafNodes.size();
if (N == 0)
{
return NULL;
}
while (N > 1)
{
btAlignedObjectArray<bool> marked;