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https://github.com/AleziaKurdis/overte.git
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117 lines
4.5 KiB
C++
117 lines
4.5 KiB
C++
/*
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* Bullet Continuous Collision Detection and Physics Library
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* Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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*
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* This software is provided 'as-is', without any express or implied warranty.
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* In no event will the authors be held liable for any damages arising from the use of this software.
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* Permission is granted to anyone to use this software for any purpose,
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* including commercial applications, and to alter it and redistribute it freely,
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* subject to the following restrictions:
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*
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* 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.
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* 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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* 3. This notice may not be removed or altered from any source distribution.
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*
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* Copied and modified from btDiscreteDynamicsWorld.cpp by AndrewMeadows on 2014.11.12.
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* */
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#include <LinearMath/btQuickprof.h>
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#include "ObjectMotionState.h"
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#include "ThreadSafeDynamicsWorld.h"
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ThreadSafeDynamicsWorld::ThreadSafeDynamicsWorld(
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btDispatcher* dispatcher,
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btBroadphaseInterface* pairCache,
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btConstraintSolver* constraintSolver,
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btCollisionConfiguration* collisionConfiguration)
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: btDiscreteDynamicsWorld(dispatcher, pairCache, constraintSolver, collisionConfiguration) {
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}
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int ThreadSafeDynamicsWorld::stepSimulation( btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep) {
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BT_PROFILE("stepSimulation");
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int subSteps = 0;
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if (maxSubSteps) {
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//fixed timestep with interpolation
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m_fixedTimeStep = fixedTimeStep;
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m_localTime += timeStep;
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if (m_localTime >= fixedTimeStep)
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{
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subSteps = int( m_localTime / fixedTimeStep);
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m_localTime -= subSteps * fixedTimeStep;
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}
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} else {
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//variable timestep
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fixedTimeStep = timeStep;
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m_localTime = m_latencyMotionStateInterpolation ? 0 : timeStep;
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m_fixedTimeStep = 0;
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if (btFuzzyZero(timeStep))
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{
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subSteps = 0;
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maxSubSteps = 0;
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} else
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{
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subSteps = 1;
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maxSubSteps = 1;
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}
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}
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/*//process some debugging flags
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if (getDebugDrawer()) {
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btIDebugDraw* debugDrawer = getDebugDrawer();
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gDisableDeactivation = (debugDrawer->getDebugMode() & btIDebugDraw::DBG_NoDeactivation) != 0;
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}*/
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if (subSteps) {
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//clamp the number of substeps, to prevent simulation grinding spiralling down to a halt
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int clampedSimulationSteps = (subSteps > maxSubSteps)? maxSubSteps : subSteps;
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saveKinematicState(fixedTimeStep*clampedSimulationSteps);
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applyGravity();
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for (int i=0;i<clampedSimulationSteps;i++) {
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internalSingleStepSimulation(fixedTimeStep);
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}
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}
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// NOTE: We do NOT call synchronizeMotionState() after each substep (to avoid multiple locks on the
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// object data outside of the physics engine). A consequence of this is that the transforms of the
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// external objects only ever update at the end of the full step.
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// NOTE: We do NOT call synchronizeMotionStates() here. Instead it is called by an external class
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// that knows how to lock threads correctly.
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clearForces();
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return subSteps;
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}
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void ThreadSafeDynamicsWorld::synchronizeMotionStates() {
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_changedMotionStates.clear();
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BT_PROFILE("synchronizeMotionStates");
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if (m_synchronizeAllMotionStates) {
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//iterate over all collision objects
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for (int i=0;i<m_collisionObjects.size();i++) {
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btCollisionObject* colObj = m_collisionObjects[i];
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btRigidBody* body = btRigidBody::upcast(colObj);
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if (body) {
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if (body->getMotionState()) {
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synchronizeSingleMotionState(body);
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_changedMotionStates.push_back(static_cast<ObjectMotionState*>(body->getMotionState()));
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}
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}
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}
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} else {
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//iterate over all active rigid bodies
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for (int i=0;i<m_nonStaticRigidBodies.size();i++) {
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btRigidBody* body = m_nonStaticRigidBodies[i];
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if (body->isActive()) {
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if (body->getMotionState()) {
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synchronizeSingleMotionState(body);
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_changedMotionStates.push_back(static_cast<ObjectMotionState*>(body->getMotionState()));
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}
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}
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}
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}
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}
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