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Fixed bodies sleeping after applyimpulse

This commit is contained in:
Robin Engman 2014-02-27 12:58:13 +01:00
parent b78bc8c242
commit c59565a56f
3 changed files with 22 additions and 7 deletions
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28
Code/Physics/GamePhysics/Implementation/PhysicsAPI_Impl.cpp
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@ -93,6 +93,8 @@ ICustomBody* API_Impl::AddCollisionSphere(float radius, ::Oyster::Math::Float4 r
this->dynamicsWorld->addRigidBody(rigidBody); this->dynamicsWorld->addRigidBody(rigidBody);
this->customBodies.push_back(body); this->customBodies.push_back(body);
dynamic_cast<btSphereShape*>(collisionShape)->setMargin(0.2f);
state.centerPos = position; state.centerPos = position;
state.reach = Float3(radius, radius, radius); state.reach = Float3(radius, radius, radius);
state.dynamicFrictionCoeff = dynamicFriction; state.dynamicFrictionCoeff = dynamicFriction;
@ -132,6 +134,8 @@ ICustomBody* API_Impl::AddCollisionBox(Float3 halfSize, ::Oyster::Math::Float4 r
this->dynamicsWorld->addRigidBody(rigidBody); this->dynamicsWorld->addRigidBody(rigidBody);
this->customBodies.push_back(body); this->customBodies.push_back(body);
dynamic_cast<btBoxShape*>(collisionShape)->setMargin(0.2f);
state.centerPos = position; state.centerPos = position;
state.reach = halfSize; state.reach = halfSize;
state.dynamicFrictionCoeff = dynamicFriction; state.dynamicFrictionCoeff = dynamicFriction;
@ -171,6 +175,8 @@ ICustomBody* API_Impl::AddCollisionCylinder(::Oyster::Math::Float3 halfSize, ::O
this->dynamicsWorld->addRigidBody(rigidBody); this->dynamicsWorld->addRigidBody(rigidBody);
this->customBodies.push_back(body); this->customBodies.push_back(body);
dynamic_cast<btCylinderShape*>(collisionShape)->setMargin(0.2f);
state.centerPos = position; state.centerPos = position;
state.reach = halfSize; state.reach = halfSize;
state.dynamicFrictionCoeff = dynamicFriction; state.dynamicFrictionCoeff = dynamicFriction;
@ -212,6 +218,8 @@ ICustomBody* API_Impl::AddCharacter(::Oyster::Math::Float height, ::Oyster::Math
this->dynamicsWorld->addRigidBody(rigidBody); this->dynamicsWorld->addRigidBody(rigidBody);
this->customBodies.push_back(body); this->customBodies.push_back(body);
dynamic_cast<btCapsuleShape*>(collisionShape)->setMargin(0.2f);
state.centerPos = position; state.centerPos = position;
state.reach = Float3(radius, height, radius); state.reach = Float3(radius, height, radius);
state.dynamicFrictionCoeff = dynamicFriction; state.dynamicFrictionCoeff = dynamicFriction;
@ -245,9 +253,11 @@ ICustomBody* API_Impl::AddTriangleMesh(const std::wstring fileName, ::Oyster::Ma
btDefaultMotionState* motionState = new btDefaultMotionState(btTransform(btQuaternion(rotation.x, rotation.y, rotation.z, rotation.w),btVector3(position.x, position.y, position.z))); btDefaultMotionState* motionState = new btDefaultMotionState(btTransform(btQuaternion(rotation.x, rotation.y, rotation.z, rotation.w),btVector3(position.x, position.y, position.z)));
body->SetMotionState(motionState); body->SetMotionState(motionState);
// Add rigid body // Add rigid body
btVector3 fallInertia(0, 0, 0); btVector3 fallInertia(0, 0, 0);
//collisionShape->calculateLocalInertia(mass, fallInertia); //collisionShape->calcu%lateLocalInertia(mass, fallInertia);
btRigidBody::btRigidBodyConstructionInfo rigidBodyCI(0, motionState, collisionShape, fallInertia); btRigidBody::btRigidBodyConstructionInfo rigidBodyCI(0, motionState, collisionShape, fallInertia);
btRigidBody* rigidBody = new btRigidBody(rigidBodyCI); btRigidBody* rigidBody = new btRigidBody(rigidBodyCI);
rigidBody->setFriction(staticFriction); rigidBody->setFriction(staticFriction);
@ -259,6 +269,8 @@ ICustomBody* API_Impl::AddTriangleMesh(const std::wstring fileName, ::Oyster::Ma
this->dynamicsWorld->addRigidBody(rigidBody); this->dynamicsWorld->addRigidBody(rigidBody);
this->customBodies.push_back(body); this->customBodies.push_back(body);
dynamic_cast<btBvhTriangleMeshShape*>(collisionShape)->setMargin(0.5);
state.centerPos = position; state.centerPos = position;
state.reach = Float3(0, 0, 0); state.reach = Float3(0, 0, 0);
state.dynamicFrictionCoeff = dynamicFriction; state.dynamicFrictionCoeff = dynamicFriction;
@ -284,10 +296,7 @@ void API_Impl::UpdateWorld()
this->customBodies[i]->SetGravity(-(this->customBodies[i]->GetState().centerPos - this->gravityPoint).GetNormalized()*this->gravity); this->customBodies[i]->SetGravity(-(this->customBodies[i]->GetState().centerPos - this->gravityPoint).GetNormalized()*this->gravity);
simpleBody->PreStep(this->dynamicsWorld); simpleBody->PreStep(this->dynamicsWorld);
if(simpleBody->GetRigidBody()->getActivationState() == ACTIVE_TAG)
{
this->customBodies[i]->CallSubscription_Move();
}
simpleBody->SetPreviousVelocity(simpleBody->GetLinearVelocity()); simpleBody->SetPreviousVelocity(simpleBody->GetLinearVelocity());
} }
@ -301,7 +310,12 @@ void API_Impl::UpdateWorld()
btTransform trans; btTransform trans;
trans = simpleBody->GetRigidBody()->getWorldTransform(); trans = simpleBody->GetRigidBody()->getWorldTransform();
this->customBodies[i]->SetPosition(Float3(trans.getOrigin().x(), trans.getOrigin().y(), trans.getOrigin().z())); this->customBodies[i]->SetPosition(Float3(trans.getOrigin().x(), trans.getOrigin().y(), trans.getOrigin().z()));
this->customBodies[i]->SetRotation(Quaternion(Float3(trans.getRotation().x(), trans.getRotation().y(), trans.getRotation().z()), trans.getRotation().w())); this->customBodies[i]->SetRotation(Quaternion(Float3(trans.getRotation().x(), trans.getRotation().y(), trans.getRotation().z()), trans.getRotation().w()));
if(simpleBody->GetRigidBody()->getActivationState() == ACTIVE_TAG)
{
this->customBodies[i]->CallSubscription_Move();
}
} }
int numManifolds = this->dynamicsWorld->getDispatcher()->getNumManifolds(); int numManifolds = this->dynamicsWorld->getDispatcher()->getNumManifolds();
@ -411,7 +425,7 @@ void API_Impl::ApplyEffect(Oyster::Collision3D::ICollideable* collideable, void*
btConeShapeZ coneShape = btConeShapeZ(cone->radius, cone->length); btConeShapeZ coneShape = btConeShapeZ(cone->radius, cone->length);
// Add motion state // Add motion state
btDefaultMotionState state = btDefaultMotionState(btTransform(btQuaternion(cone->quaternion.x, cone->quaternion.y, cone->quaternion.z, cone->quaternion.w),btVector3(cone->center.x, cone->center.y, cone->center.z))); btDefaultMotionState state = btDefaultMotionState(btTransform(btQuaternion(cone->quaternion.x, cone->quaternion.y, cone->quaternion.z, cone->quaternion.w)*btQuaternion(0, 1, 0, 0),btVector3(cone->center.x, cone->center.y, cone->center.z)));
// Add rigid body // Add rigid body
btRigidBody::btRigidBodyConstructionInfo rigidBodyCI = btRigidBody::btRigidBodyConstructionInfo (0, &state, &coneShape); btRigidBody::btRigidBodyConstructionInfo rigidBodyCI = btRigidBody::btRigidBodyConstructionInfo (0, &state, &coneShape);

1
Code/Physics/GamePhysics/Implementation/SimpleRigidBody.cpp
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@ -73,6 +73,7 @@ void SimpleRigidBody::SetState( const SimpleRigidBody::State &state )
void SimpleRigidBody::ApplyImpulse(Float3 impulse) void SimpleRigidBody::ApplyImpulse(Float3 impulse)
{ {
this->rigidBody->applyCentralImpulse(btVector3(impulse.x, impulse.y, impulse.z)); this->rigidBody->applyCentralImpulse(btVector3(impulse.x, impulse.y, impulse.z));
this->rigidBody->setActivationState(ACTIVE_TAG);
} }
void SimpleRigidBody::SetCollisionShape(btCollisionShape* shape) void SimpleRigidBody::SetCollisionShape(btCollisionShape* shape)

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Code/Physics/lib/Debug/BulletCollision_Debug.lib
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