Ported Bullet to the mod loader system; needs further work

2026-03-05 21:40:21 +00:00 · 2015-06-27 14:01:25 -04:00 · 2015-06-27 14:01:25 -04:00 · 06810b6cca
commit 06810b6cca
parent 527474ff24
353 changed files with 80265 additions and 0 deletions
--- a/Sources/Bullet/include/bullet/BulletDynamics/Dynamics/btContinuousDynamicsWorld.cpp
+++ b/Sources/Bullet/include/bullet/BulletDynamics/Dynamics/btContinuousDynamicsWorld.cpp
@ -0,0 +1,196 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2007 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+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.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+#include "btContinuousDynamicsWorld.h"
+#include "LinearMath/btQuickprof.h"
+
+//collision detection
+#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
+#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
+#include "BulletCollision/CollisionShapes/btCollisionShape.h"
+#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h"
+
+//rigidbody & constraints
+#include "BulletDynamics/Dynamics/btRigidBody.h"
+#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
+#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
+#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
+
+
+
+#include <stdio.h>
+
+btContinuousDynamicsWorld::btContinuousDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration)
+:btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration)
+{
+}
+
+btContinuousDynamicsWorld::~btContinuousDynamicsWorld()
+{
+}
+
+	
+void	btContinuousDynamicsWorld::internalSingleStepSimulation( btScalar timeStep)
+{
+	
+	startProfiling(timeStep);
+	
+	if(0 != m_internalPreTickCallback) {
+		(*m_internalPreTickCallback)(this, timeStep);
+	}
+
+
+	///update aabbs information
+	updateAabbs();
+	//static int frame=0;
+//	printf("frame %d\n",frame++);
+
+	///apply gravity, predict motion
+	predictUnconstraintMotion(timeStep);
+
+	btDispatcherInfo& dispatchInfo = getDispatchInfo();
+
+	dispatchInfo.m_timeStep = timeStep;
+	dispatchInfo.m_stepCount = 0;
+	dispatchInfo.m_debugDraw = getDebugDrawer();
+
+	///perform collision detection
+	performDiscreteCollisionDetection();
+
+	calculateSimulationIslands();
+
+	
+	getSolverInfo().m_timeStep = timeStep;
+	
+
+
+	///solve contact and other joint constraints
+	solveConstraints(getSolverInfo());
+	
+	///CallbackTriggers();
+	calculateTimeOfImpacts(timeStep);
+
+	btScalar toi = dispatchInfo.m_timeOfImpact;
+//	if (toi < 1.f)
+//		printf("toi = %f\n",toi);
+	if (toi < 0.f)
+		printf("toi = %f\n",toi);
+
+
+	///integrate transforms
+	integrateTransforms(timeStep * toi);
+
+	///update vehicle simulation
+	updateActions(timeStep);
+
+	updateActivationState( timeStep );
+	
+	if(0 != m_internalTickCallback) {
+		(*m_internalTickCallback)(this, timeStep);
+	}
+}
+
+void	btContinuousDynamicsWorld::calculateTimeOfImpacts(btScalar timeStep)
+{
+		///these should be 'temporal' aabbs!
+		updateTemporalAabbs(timeStep);
+		
+		///'toi' is the global smallest time of impact. However, we just calculate the time of impact for each object individually.
+		///so we handle the case moving versus static properly, and we cheat for moving versus moving
+		btScalar toi = 1.f;
+		
+	
+		btDispatcherInfo& dispatchInfo = getDispatchInfo();
+		dispatchInfo.m_timeStep = timeStep;
+		dispatchInfo.m_timeOfImpact = 1.f;
+		dispatchInfo.m_stepCount = 0;
+		dispatchInfo.m_dispatchFunc = btDispatcherInfo::DISPATCH_CONTINUOUS;
+
+		///calculate time of impact for overlapping pairs
+
+
+		btDispatcher* dispatcher = getDispatcher();
+		if (dispatcher)
+			dispatcher->dispatchAllCollisionPairs(m_broadphasePairCache->getOverlappingPairCache(),dispatchInfo,m_dispatcher1);
+
+		toi = dispatchInfo.m_timeOfImpact;
+
+		dispatchInfo.m_dispatchFunc = btDispatcherInfo::DISPATCH_DISCRETE;
+
+}
+
+void	btContinuousDynamicsWorld::updateTemporalAabbs(btScalar timeStep)
+{
+
+	btVector3 temporalAabbMin,temporalAabbMax;
+
+	for ( int i=0;i<m_collisionObjects.size();i++)
+	{
+		btCollisionObject* colObj = m_collisionObjects[i];
+		
+		btRigidBody* body = btRigidBody::upcast(colObj);
+		if (body)
+		{
+			body->getCollisionShape()->getAabb(m_collisionObjects[i]->getWorldTransform(),temporalAabbMin,temporalAabbMax);
+			const btVector3& linvel = body->getLinearVelocity();
+
+			//make the AABB temporal
+			btScalar temporalAabbMaxx = temporalAabbMax.getX();
+			btScalar temporalAabbMaxy = temporalAabbMax.getY();
+			btScalar temporalAabbMaxz = temporalAabbMax.getZ();
+			btScalar temporalAabbMinx = temporalAabbMin.getX();
+			btScalar temporalAabbMiny = temporalAabbMin.getY();
+			btScalar temporalAabbMinz = temporalAabbMin.getZ();
+
+			// add linear motion
+			btVector3 linMotion = linvel*timeStep;
+		
+			if (linMotion.x() > 0.f)
+				temporalAabbMaxx += linMotion.x(); 
+			else
+				temporalAabbMinx += linMotion.x();
+			if (linMotion.y() > 0.f)
+				temporalAabbMaxy += linMotion.y(); 
+			else
+				temporalAabbMiny += linMotion.y();
+			if (linMotion.z() > 0.f)
+				temporalAabbMaxz += linMotion.z(); 
+			else
+				temporalAabbMinz += linMotion.z();
+
+			//add conservative angular motion
+			btScalar angularMotion(0);// = angvel.length() * GetAngularMotionDisc() * timeStep;
+			btVector3 angularMotion3d(angularMotion,angularMotion,angularMotion);
+			temporalAabbMin = btVector3(temporalAabbMinx,temporalAabbMiny,temporalAabbMinz);
+			temporalAabbMax = btVector3(temporalAabbMaxx,temporalAabbMaxy,temporalAabbMaxz);
+
+			temporalAabbMin -= angularMotion3d;
+			temporalAabbMax += angularMotion3d;
+
+			m_broadphasePairCache->setAabb(body->getBroadphaseHandle(),temporalAabbMin,temporalAabbMax,m_dispatcher1);
+		}
+	}
+
+	//update aabb (of all moved objects)
+
+	m_broadphasePairCache->calculateOverlappingPairs(m_dispatcher1);
+	
+
+
+}
+
+
+