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This commit is contained in:
Andrew Meadows 2015-04-04 13:50:16 -07:00
parent 2089a8c2dd
commit 568050686d
1 changed files with 41 additions and 41 deletions
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82
libraries/physics/src/ThreadSafeDynamicsWorld.cpp
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@ -27,51 +27,51 @@ ThreadSafeDynamicsWorld::ThreadSafeDynamicsWorld(
: btDiscreteDynamicsWorld(dispatcher, pairCache, constraintSolver, collisionConfiguration) { : btDiscreteDynamicsWorld(dispatcher, pairCache, constraintSolver, collisionConfiguration) {
} }
int ThreadSafeDynamicsWorld::stepSimulation( btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep) { int ThreadSafeDynamicsWorld::stepSimulation( btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep) {
BT_PROFILE("stepSimulation"); BT_PROFILE("stepSimulation");
int subSteps = 0; int subSteps = 0;
if (maxSubSteps) { if (maxSubSteps) {
//fixed timestep with interpolation //fixed timestep with interpolation
m_fixedTimeStep = fixedTimeStep; m_fixedTimeStep = fixedTimeStep;
m_localTime += timeStep; m_localTime += timeStep;
if (m_localTime >= fixedTimeStep) if (m_localTime >= fixedTimeStep)
{ {
subSteps = int( m_localTime / fixedTimeStep); subSteps = int( m_localTime / fixedTimeStep);
m_localTime -= subSteps * fixedTimeStep; m_localTime -= subSteps * fixedTimeStep;
} }
} else { } else {
//variable timestep //variable timestep
fixedTimeStep = timeStep; fixedTimeStep = timeStep;
m_localTime = m_latencyMotionStateInterpolation ? 0 : timeStep; m_localTime = m_latencyMotionStateInterpolation ? 0 : timeStep;
m_fixedTimeStep = 0; m_fixedTimeStep = 0;
if (btFuzzyZero(timeStep)) if (btFuzzyZero(timeStep))
{ {
subSteps = 0; subSteps = 0;
maxSubSteps = 0; maxSubSteps = 0;
} else } else
{ {
subSteps = 1; subSteps = 1;
maxSubSteps = 1; maxSubSteps = 1;
} }
} }
/*//process some debugging flags /*//process some debugging flags
if (getDebugDrawer()) { if (getDebugDrawer()) {
btIDebugDraw* debugDrawer = getDebugDrawer (); btIDebugDraw* debugDrawer = getDebugDrawer ();
gDisableDeactivation = (debugDrawer->getDebugMode() & btIDebugDraw::DBG_NoDeactivation) != 0; gDisableDeactivation = (debugDrawer->getDebugMode() & btIDebugDraw::DBG_NoDeactivation) != 0;
}*/ }*/
if (subSteps) { if (subSteps) {
//clamp the number of substeps, to prevent simulation grinding spiralling down to a halt //clamp the number of substeps, to prevent simulation grinding spiralling down to a halt
int clampedSimulationSteps = (subSteps > maxSubSteps)? maxSubSteps : subSteps; int clampedSimulationSteps = (subSteps > maxSubSteps)? maxSubSteps : subSteps;
saveKinematicState(fixedTimeStep*clampedSimulationSteps); saveKinematicState(fixedTimeStep*clampedSimulationSteps);
applyGravity(); applyGravity();
for (int i=0;i<clampedSimulationSteps;i++) { for (int i=0;i<clampedSimulationSteps;i++) {
internalSingleStepSimulation(fixedTimeStep); internalSingleStepSimulation(fixedTimeStep);
} }
} }
// NOTE: We do NOT call synchronizeMotionState() after each substep (to avoid multiple locks on the // NOTE: We do NOT call synchronizeMotionState() after each substep (to avoid multiple locks on the
// object data outside of the physics engine). A consequence of this is that the transforms of the // object data outside of the physics engine). A consequence of this is that the transforms of the
@ -80,7 +80,7 @@ int ThreadSafeDynamicsWorld::stepSimulation( btScalar timeStep, int maxSubSteps,
// NOTE: We do NOT call synchronizeMotionStates() here. Instead it is called by an external class // NOTE: We do NOT call synchronizeMotionStates() here. Instead it is called by an external class
// that knows how to lock threads correctly. // that knows how to lock threads correctly.
clearForces(); clearForces();
return subSteps; return subSteps;
} }