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Merge branch 'physics-substep-fix' into baseball

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This commit is contained in:
Ryan Huffman 2015-10-27 10:25:40 -07:00
commit b75ad7f254
4 changed files with 14 additions and 6 deletions
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2
libraries/entities-renderer/src/EntityTreeRenderer.cpp
View file

@ -774,7 +774,7 @@ void EntityTreeRenderer::entityCollisionWithEntity(const EntityItemID& idA, cons
}
// Don't respond to small continuous contacts.
const float COLLISION_MINUMUM_PENETRATION = 0.002f;
if ((collision.type != CONTACT_EVENT_TYPE_START) && (glm::length(collision.penetration) < COLLISION_MINUMUM_PENETRATION)) {
if ((collision.type == CONTACT_EVENT_TYPE_CONTINUE) && (glm::length(collision.penetration) < COLLISION_MINUMUM_PENETRATION)) {
return;
}

9
libraries/physics/src/PhysicsEngine.cpp
View file

@ -251,7 +251,12 @@ void PhysicsEngine::stepSimulation() {
_characterController->preSimulation(timeStep);
}
int numSubsteps = _dynamicsWorld->stepSimulation(timeStep, PHYSICS_ENGINE_MAX_NUM_SUBSTEPS, PHYSICS_ENGINE_FIXED_SUBSTEP);
auto onSubStep = [this]() {
updateContactMap();
_hasOutgoingChanges = true;
};
int numSubsteps = _dynamicsWorld->stepSimulation(timeStep, PHYSICS_ENGINE_MAX_NUM_SUBSTEPS, PHYSICS_ENGINE_FIXED_SUBSTEP, onSubStep);
if (numSubsteps > 0) {
BT_PROFILE("postSimulation");
_numSubsteps += (uint32_t)numSubsteps;
@ -260,8 +265,6 @@ void PhysicsEngine::stepSimulation() {
if (_characterController) {
_characterController->postSimulation();
}
updateContactMap();
_hasOutgoingChanges = true;
}
}

3
libraries/physics/src/ThreadSafeDynamicsWorld.cpp
View file

@ -27,7 +27,7 @@ ThreadSafeDynamicsWorld::ThreadSafeDynamicsWorld(
: btDiscreteDynamicsWorld(dispatcher, pairCache, constraintSolver, collisionConfiguration) {
}
int ThreadSafeDynamicsWorld::stepSimulation( btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep) {
int ThreadSafeDynamicsWorld::stepSimulation( btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep, SubStepCallback onSubStep) {
BT_PROFILE("stepSimulation");
int subSteps = 0;
if (maxSubSteps) {
@ -70,6 +70,7 @@ int ThreadSafeDynamicsWorld::stepSimulation( btScalar timeStep, int maxSubSteps,
for (int i=0;i<clampedSimulationSteps;i++) {
internalSingleStepSimulation(fixedTimeStep);
onSubStep();
}
}

6
libraries/physics/src/ThreadSafeDynamicsWorld.h
View file

@ -23,6 +23,10 @@
#include "ObjectMotionState.h"
#include <functional>
using SubStepCallback = std::function<void()>;
ATTRIBUTE_ALIGNED16(class) ThreadSafeDynamicsWorld : public btDiscreteDynamicsWorld {
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
@ -34,7 +38,7 @@ public:
btCollisionConfiguration* collisionConfiguration);
// virtual overrides from btDiscreteDynamicsWorld
int stepSimulation( btScalar timeStep, int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.));
int stepSimulation( btScalar timeStep, int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.), SubStepCallback onSubStep = []() { });
void synchronizeMotionStates();
// btDiscreteDynamicsWorld::m_localTime is the portion of real-time that has not yet been simulated