/* * Bullet Continuous Collision Detection and Physics Library * Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org * * 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. * * Copied and modified from btDiscreteDynamicsWorld.cpp by AndrewMeadows on 2014.11.12. * */#include <LinearMath/btQuickprof.h>#include "ThreadSafeDynamicsWorld.h"ThreadSafeDynamicsWorld::ThreadSafeDynamicsWorld( btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration) : btDiscreteDynamicsWorld(dispatcher, pairCache, constraintSolver, collisionConfiguration) {}int ThreadSafeDynamicsWorld::stepSimulationWithSubstepCallback(btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep, SubStepCallback onSubStep) { BT_PROFILE("stepSimulationWithSubstepCallback"); int subSteps = 0; if (maxSubSteps) { //fixed timestep with interpolation m_fixedTimeStep = fixedTimeStep; m_localTime += timeStep; if (m_localTime >= fixedTimeStep) { subSteps = int( m_localTime / fixedTimeStep); m_localTime -= subSteps * fixedTimeStep; } } else { //variable timestep fixedTimeStep = timeStep; m_localTime = m_latencyMotionStateInterpolation ? 0 : timeStep; m_fixedTimeStep = 0; if (btFuzzyZero(timeStep)) { subSteps = 0; maxSubSteps = 0; } else { subSteps = 1; maxSubSteps = 1; } } /*//process some debugging flags if (getDebugDrawer()) { btIDebugDraw* debugDrawer = getDebugDrawer(); gDisableDeactivation = (debugDrawer->getDebugMode() & btIDebugDraw::DBG_NoDeactivation) != 0; }*/ if (subSteps) { //clamp the number of substeps, to prevent simulation grinding spiralling down to a halt int clampedSimulationSteps = (subSteps > maxSubSteps)? maxSubSteps : subSteps; saveKinematicState(fixedTimeStep*clampedSimulationSteps); { BT_PROFILE("applyGravity"); applyGravity(); } for (int i=0;i<clampedSimulationSteps;i++) { internalSingleStepSimulation(fixedTimeStep); onSubStep(); } } // NOTE: We do NOT call synchronizeMotionStates() 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 // external objects only ever update at the end of the full step. // NOTE: We do NOT call synchronizeMotionStates() here. Instead it is called by an external class // that knows how to lock threads correctly. clearForces(); return subSteps;}// call this instead of non-virtual btDiscreteDynamicsWorld::synchronizeSingleMotionState()void ThreadSafeDynamicsWorld::synchronizeMotionState(btRigidBody* body) { btAssert(body); if (body->getMotionState() && !body->isStaticObject()) { //we need to call the update at least once, even for sleeping objects //otherwise the 'graphics' transform never updates properly ///@todo: add 'dirty' flag //if (body->getActivationState() != ISLAND_SLEEPING) { if (body->isKinematicObject()) { ObjectMotionState* objectMotionState = static_cast<ObjectMotionState*>(body->getMotionState()); if (objectMotionState->hasInternalKinematicChanges()) { objectMotionState->clearInternalKinematicChanges(); body->getMotionState()->setWorldTransform(body->getWorldTransform()); } return; } btTransform interpolatedTransform; btTransformUtil::integrateTransform(body->getInterpolationWorldTransform(), body->getInterpolationLinearVelocity(),body->getInterpolationAngularVelocity(), (m_latencyMotionStateInterpolation && m_fixedTimeStep) ? m_localTime - m_fixedTimeStep : m_localTime*body->getHitFraction(), interpolatedTransform); body->getMotionState()->setWorldTransform(interpolatedTransform); } }}void ThreadSafeDynamicsWorld::synchronizeMotionStates() { BT_PROFILE("synchronizeMotionStates"); _changedMotionStates.clear(); // NOTE: m_synchronizeAllMotionStates is 'false' by default for optimization. // See PhysicsEngine::init() where we call _dynamicsWorld->setForceUpdateAllAabbs(false) if (m_synchronizeAllMotionStates) { //iterate over all collision objects for (int i=0;i<m_collisionObjects.size();i++) { btCollisionObject* colObj = m_collisionObjects[i]; btRigidBody* body = btRigidBody::upcast(colObj); if (body && body->getMotionState()) { synchronizeMotionState(body); _changedMotionStates.push_back(static_cast<ObjectMotionState*>(body->getMotionState())); } } } else { //iterate over all active rigid bodies // TODO? if this becomes a performance bottleneck we could derive our own SimulationIslandManager // that remembers a list of objects deactivated last step _activeStates.clear(); _deactivatedStates.clear(); for (int i=0;i<m_nonStaticRigidBodies.size();i++) { btRigidBody* body = m_nonStaticRigidBodies[i]; ObjectMotionState* motionState = static_cast<ObjectMotionState*>(body->getMotionState()); if (motionState) { if (body->isActive()) { synchronizeMotionState(body); _changedMotionStates.push_back(motionState); _activeStates.insert(motionState); } else if (_lastActiveStates.find(motionState) != _lastActiveStates.end()) { // this object was active last frame but is no longer _deactivatedStates.push_back(motionState); } } } } _activeStates.swap(_lastActiveStates);}void ThreadSafeDynamicsWorld::saveKinematicState(btScalar timeStep) {///would like to iterate over m_nonStaticRigidBodies, but unfortunately old API allows///to switch status _after_ adding kinematic objects to the world///fix it for Bullet 3.x release BT_PROFILE("saveKinematicState"); for (int i=0;i<m_collisionObjects.size();i++) { btCollisionObject* colObj = m_collisionObjects[i]; btRigidBody* body = btRigidBody::upcast(colObj); if (body && body->getActivationState() != ISLAND_SLEEPING) { if (body->isKinematicObject()) { //to calculate velocities next frame body->saveKinematicState(timeStep); } } }}
/*
* Bullet Continuous Collision Detection and Physics Library
* Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
*
* 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.
*
* Copied and modified from btDiscreteDynamicsWorld.cpp by AndrewMeadows on 2014.11.12.
* */
#include <LinearMath/btQuickprof.h>
#include "ThreadSafeDynamicsWorld.h"
ThreadSafeDynamicsWorld::ThreadSafeDynamicsWorld(
btDispatcher* dispatcher,
btBroadphaseInterface* pairCache,
btConstraintSolver* constraintSolver,
btCollisionConfiguration* collisionConfiguration)
: btDiscreteDynamicsWorld(dispatcher, pairCache, constraintSolver, collisionConfiguration) {
}
int ThreadSafeDynamicsWorld::stepSimulationWithSubstepCallback(btScalar timeStep, int maxSubSteps,
btScalar fixedTimeStep, SubStepCallback onSubStep) {
BT_PROFILE("stepSimulationWithSubstepCallback");
int subSteps = 0;
if (maxSubSteps) {
//fixed timestep with interpolation
m_fixedTimeStep = fixedTimeStep;
m_localTime += timeStep;
if (m_localTime >= fixedTimeStep)
{
subSteps = int( m_localTime / fixedTimeStep);
m_localTime -= subSteps * fixedTimeStep;
}
} else {
//variable timestep
fixedTimeStep = timeStep;
m_localTime = m_latencyMotionStateInterpolation ? 0 : timeStep;
m_fixedTimeStep = 0;
if (btFuzzyZero(timeStep))
{
subSteps = 0;
maxSubSteps = 0;
} else
{
subSteps = 1;
maxSubSteps = 1;
}
}
/*//process some debugging flags
if (getDebugDrawer()) {
btIDebugDraw* debugDrawer = getDebugDrawer();
gDisableDeactivation = (debugDrawer->getDebugMode() & btIDebugDraw::DBG_NoDeactivation) != 0;
}*/
if (subSteps) {
//clamp the number of substeps, to prevent simulation grinding spiralling down to a halt
int clampedSimulationSteps = (subSteps > maxSubSteps)? maxSubSteps : subSteps;
saveKinematicState(fixedTimeStep*clampedSimulationSteps);
{
BT_PROFILE("applyGravity");
applyGravity();
}
for (int i=0;i<clampedSimulationSteps;i++) {
internalSingleStepSimulation(fixedTimeStep);
onSubStep();
}
}
// NOTE: We do NOT call synchronizeMotionStates() 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
// external objects only ever update at the end of the full step.
// NOTE: We do NOT call synchronizeMotionStates() here. Instead it is called by an external class
// that knows how to lock threads correctly.
clearForces();
return subSteps;
}
// call this instead of non-virtual btDiscreteDynamicsWorld::synchronizeSingleMotionState()
void ThreadSafeDynamicsWorld::synchronizeMotionState(btRigidBody* body) {
btAssert(body);
if (body->getMotionState() && !body->isStaticObject()) {
//we need to call the update at least once, even for sleeping objects
//otherwise the 'graphics' transform never updates properly
///@todo: add 'dirty' flag
//if (body->getActivationState() != ISLAND_SLEEPING)
{
if (body->isKinematicObject()) {
ObjectMotionState* objectMotionState = static_cast<ObjectMotionState*>(body->getMotionState());
if (objectMotionState->hasInternalKinematicChanges()) {
objectMotionState->clearInternalKinematicChanges();
body->getMotionState()->setWorldTransform(body->getWorldTransform());
}
return;
}
btTransform interpolatedTransform;
btTransformUtil::integrateTransform(body->getInterpolationWorldTransform(),
body->getInterpolationLinearVelocity(),body->getInterpolationAngularVelocity(),
(m_latencyMotionStateInterpolation && m_fixedTimeStep) ? m_localTime - m_fixedTimeStep : m_localTime*body->getHitFraction(),
interpolatedTransform);
body->getMotionState()->setWorldTransform(interpolatedTransform);
}
}
}
void ThreadSafeDynamicsWorld::synchronizeMotionStates() {
BT_PROFILE("synchronizeMotionStates");
_changedMotionStates.clear();
// NOTE: m_synchronizeAllMotionStates is 'false' by default for optimization.
// See PhysicsEngine::init() where we call _dynamicsWorld->setForceUpdateAllAabbs(false)
if (m_synchronizeAllMotionStates) {
//iterate over all collision objects
for (int i=0;i<m_collisionObjects.size();i++) {
btCollisionObject* colObj = m_collisionObjects[i];
btRigidBody* body = btRigidBody::upcast(colObj);
if (body && body->getMotionState()) {
synchronizeMotionState(body);
_changedMotionStates.push_back(static_cast<ObjectMotionState*>(body->getMotionState()));
}
}
} else {
//iterate over all active rigid bodies
// TODO? if this becomes a performance bottleneck we could derive our own SimulationIslandManager
// that remembers a list of objects deactivated last step
_activeStates.clear();
_deactivatedStates.clear();
for (int i=0;i<m_nonStaticRigidBodies.size();i++) {
btRigidBody* body = m_nonStaticRigidBodies[i];
ObjectMotionState* motionState = static_cast<ObjectMotionState*>(body->getMotionState());
if (motionState) {
if (body->isActive()) {
synchronizeMotionState(body);
_changedMotionStates.push_back(motionState);
_activeStates.insert(motionState);
} else if (_lastActiveStates.find(motionState) != _lastActiveStates.end()) {
// this object was active last frame but is no longer
_deactivatedStates.push_back(motionState);
}
}
}
}
_activeStates.swap(_lastActiveStates);
}
void ThreadSafeDynamicsWorld::saveKinematicState(btScalar timeStep) {
///would like to iterate over m_nonStaticRigidBodies, but unfortunately old API allows
///to switch status _after_ adding kinematic objects to the world
///fix it for Bullet 3.x release
BT_PROFILE("saveKinematicState");
for (int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
btRigidBody* body = btRigidBody::upcast(colObj);
if (body && body->getActivationState() != ISLAND_SLEEPING)
{
if (body->isKinematicObject())
{
//to calculate velocities next frame
body->saveKinematicState(timeStep);
}
}
}
}