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Merge pull request #4139 from AndrewMeadows/bispinor

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lower cost when failing to add entity to physics engine
This commit is contained in:
Brad Hefta-Gaub 2015-01-20 18:17:35 -08:00
commit 08e8694ae1
2 changed files with 51 additions and 54 deletions
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103
libraries/physics/src/PhysicsEngine.cpp
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@ -60,14 +60,17 @@ void PhysicsEngine::addEntityInternal(EntityItem* entity) {
assert(entity); assert(entity);
void* physicsInfo = entity->getPhysicsInfo(); void* physicsInfo = entity->getPhysicsInfo();
if (!physicsInfo) { if (!physicsInfo) {
EntityMotionState* motionState = new EntityMotionState(entity); ShapeInfo shapeInfo;
if (addObject(motionState)) { entity->computeShapeInfo(shapeInfo);
btCollisionShape* shape = _shapeManager.getShape(shapeInfo);
if (shape) {
EntityMotionState* motionState = new EntityMotionState(entity);
entity->setPhysicsInfo(static_cast<void*>(motionState)); entity->setPhysicsInfo(static_cast<void*>(motionState));
_entityMotionStates.insert(motionState); _entityMotionStates.insert(motionState);
addObject(shapeInfo, shape, motionState);
} else { } else {
// We failed to add the entity to the simulation. Probably because we couldn't create a shape for it. // We failed to add the entity to the simulation. Probably because we couldn't create a shape for it.
//qDebug() << "failed to add entity " << entity->getEntityItemID() << " to physics engine"; //qDebug() << "failed to add entity " << entity->getEntityItemID() << " to physics engine";
delete motionState;
} }
} }
} }
@ -244,59 +247,53 @@ void PhysicsEngine::stepSimulation() {
// CF_DISABLE_VISUALIZE_OBJECT = 32, //disable debug drawing // CF_DISABLE_VISUALIZE_OBJECT = 32, //disable debug drawing
// CF_DISABLE_SPU_COLLISION_PROCESSING = 64//disable parallel/SPU processing // CF_DISABLE_SPU_COLLISION_PROCESSING = 64//disable parallel/SPU processing
bool PhysicsEngine::addObject(ObjectMotionState* motionState) { void PhysicsEngine::addObject(const ShapeInfo& shapeInfo, btCollisionShape* shape, ObjectMotionState* motionState) {
assert(shape);
assert(motionState); assert(motionState);
ShapeInfo shapeInfo;
motionState->computeShapeInfo(shapeInfo); btVector3 inertia(0.0f, 0.0f, 0.0f);
btCollisionShape* shape = _shapeManager.getShape(shapeInfo); float mass = 0.0f;
if (shape) { btRigidBody* body = NULL;
btVector3 inertia(0.0f, 0.0f, 0.0f); switch(motionState->computeMotionType()) {
float mass = 0.0f; case MOTION_TYPE_KINEMATIC: {
btRigidBody* body = NULL; body = new btRigidBody(mass, motionState, shape, inertia);
switch(motionState->computeMotionType()) { body->setCollisionFlags(btCollisionObject::CF_KINEMATIC_OBJECT);
case MOTION_TYPE_KINEMATIC: { body->updateInertiaTensor();
body = new btRigidBody(mass, motionState, shape, inertia); motionState->_body = body;
body->setCollisionFlags(btCollisionObject::CF_KINEMATIC_OBJECT); motionState->addKinematicController();
body->updateInertiaTensor(); const float KINEMATIC_LINEAR_VELOCITY_THRESHOLD = 0.01f; // 1 cm/sec
motionState->_body = body; const float KINEMATIC_ANGULAR_VELOCITY_THRESHOLD = 0.01f; // ~1 deg/sec
motionState->addKinematicController(); body->setSleepingThresholds(KINEMATIC_LINEAR_VELOCITY_THRESHOLD, KINEMATIC_ANGULAR_VELOCITY_THRESHOLD);
const float KINEMATIC_LINEAR_VELOCITY_THRESHOLD = 0.01f; // 1 cm/sec break;
const float KINEMATIC_ANGULAR_VELOCITY_THRESHOLD = 0.01f; // ~1 deg/sec }
body->setSleepingThresholds(KINEMATIC_LINEAR_VELOCITY_THRESHOLD, KINEMATIC_ANGULAR_VELOCITY_THRESHOLD); case MOTION_TYPE_DYNAMIC: {
break; mass = motionState->computeMass(shapeInfo);
} shape->calculateLocalInertia(mass, inertia);
case MOTION_TYPE_DYNAMIC: { body = new btRigidBody(mass, motionState, shape, inertia);
mass = motionState->computeMass(shapeInfo); body->updateInertiaTensor();
shape->calculateLocalInertia(mass, inertia); motionState->_body = body;
body = new btRigidBody(mass, motionState, shape, inertia); motionState->updateObjectVelocities();
body->updateInertiaTensor(); // NOTE: Bullet will deactivate any object whose velocity is below these thresholds for longer than 2 seconds.
motionState->_body = body; // (the 2 seconds is determined by: static btRigidBody::gDeactivationTime
motionState->updateObjectVelocities(); const float DYNAMIC_LINEAR_VELOCITY_THRESHOLD = 0.05f; // 5 cm/sec
// NOTE: Bullet will deactivate any object whose velocity is below these thresholds for longer than 2 seconds. const float DYNAMIC_ANGULAR_VELOCITY_THRESHOLD = 0.087266f; // ~5 deg/sec
// (the 2 seconds is determined by: static btRigidBody::gDeactivationTime body->setSleepingThresholds(DYNAMIC_LINEAR_VELOCITY_THRESHOLD, DYNAMIC_ANGULAR_VELOCITY_THRESHOLD);
const float DYNAMIC_LINEAR_VELOCITY_THRESHOLD = 0.05f; // 5 cm/sec break;
const float DYNAMIC_ANGULAR_VELOCITY_THRESHOLD = 0.087266f; // ~5 deg/sec }
body->setSleepingThresholds(DYNAMIC_LINEAR_VELOCITY_THRESHOLD, DYNAMIC_ANGULAR_VELOCITY_THRESHOLD); case MOTION_TYPE_STATIC:
break; default: {
} body = new btRigidBody(mass, motionState, shape, inertia);
case MOTION_TYPE_STATIC: body->setCollisionFlags(btCollisionObject::CF_STATIC_OBJECT);
default: { body->updateInertiaTensor();
body = new btRigidBody(mass, motionState, shape, inertia); motionState->_body = body;
body->setCollisionFlags(btCollisionObject::CF_STATIC_OBJECT); break;
body->updateInertiaTensor();
motionState->_body = body;
break;
}
} }
// wtf?
body->setFlags(BT_DISABLE_WORLD_GRAVITY);
body->setRestitution(motionState->_restitution);
body->setFriction(motionState->_friction);
body->setDamping(motionState->_linearDamping, motionState->_angularDamping);
_dynamicsWorld->addRigidBody(body);
return true;
} }
return false; body->setFlags(BT_DISABLE_WORLD_GRAVITY);
body->setRestitution(motionState->_restitution);
body->setFriction(motionState->_friction);
body->setDamping(motionState->_linearDamping, motionState->_angularDamping);
_dynamicsWorld->addRigidBody(body);
} }
bool PhysicsEngine::removeObject(ObjectMotionState* motionState) { bool PhysicsEngine::removeObject(ObjectMotionState* motionState) {

2
libraries/physics/src/PhysicsEngine.h
View file

@ -59,7 +59,7 @@ public:
/// \param motionState pointer to Object's MotionState /// \param motionState pointer to Object's MotionState
/// \return true if Object added /// \return true if Object added
bool addObject(ObjectMotionState* motionState); void addObject(const ShapeInfo& shapeInfo, btCollisionShape* shape, ObjectMotionState* motionState);
/// \param motionState pointer to Object's MotionState /// \param motionState pointer to Object's MotionState
/// \return true if Object removed /// \return true if Object removed