Merge pull request #39084 from madmiraal/backport-37314
[3.2] Better damping implementation for Bullet rigid bodies
This commit is contained in:
commit
44a516986d
6 changed files with 80 additions and 28 deletions
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@ -203,6 +203,8 @@ if env["builtin_bullet"]:
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# if env['target'] == "debug" or env['target'] == "release_debug":
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# env_bullet.Append(CPPDEFINES=['BT_DEBUG'])
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env_bullet.Append(CPPDEFINES=["BT_USE_OLD_DAMPING_METHOD"])
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env_thirdparty = env_bullet.Clone()
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env_thirdparty.disable_warnings()
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env_thirdparty.add_source_files(env.modules_sources, thirdparty_sources)
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@ -503,15 +503,18 @@ void RigidBodyBullet::set_param(PhysicsServer::BodyParameter p_param, real_t p_v
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}
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case PhysicsServer::BODY_PARAM_LINEAR_DAMP:
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linearDamp = p_value;
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btBody->setDamping(linearDamp, angularDamp);
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// Mark for updating total linear damping.
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scratch_space_override_modificator();
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break;
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case PhysicsServer::BODY_PARAM_ANGULAR_DAMP:
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angularDamp = p_value;
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btBody->setDamping(linearDamp, angularDamp);
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// Mark for updating total angular damping.
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scratch_space_override_modificator();
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break;
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case PhysicsServer::BODY_PARAM_GRAVITY_SCALE:
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gravity_scale = p_value;
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/// The Bullet gravity will be is set by reload_space_override_modificator
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// The Bullet gravity will be is set by reload_space_override_modificator.
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// Mark for updating total gravity scale.
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scratch_space_override_modificator();
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break;
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default:
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@ -902,21 +905,20 @@ void RigidBodyBullet::on_exit_area(AreaBullet *p_area) {
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}
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void RigidBodyBullet::reload_space_override_modificator() {
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// Make sure that kinematic bodies have their total gravity calculated
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if (!is_active() && PhysicsServer::BODY_MODE_KINEMATIC != mode)
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return;
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Vector3 newGravity(space->get_gravity_direction() * space->get_gravity_magnitude());
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real_t newLinearDamp(linearDamp);
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real_t newAngularDamp(angularDamp);
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Vector3 newGravity(0.0, 0.0, 0.0);
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real_t newLinearDamp = MAX(0.0, linearDamp);
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real_t newAngularDamp = MAX(0.0, angularDamp);
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AreaBullet *currentArea;
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// Variable used to calculate new gravity for gravity point areas, it is pointed by currentGravity pointer
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Vector3 support_gravity(0, 0, 0);
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int countCombined(0);
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for (int i = areaWhereIamCount - 1; 0 <= i; --i) {
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bool stopped = false;
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for (int i = areaWhereIamCount - 1; (0 <= i) && !stopped; --i) {
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currentArea = areasWhereIam[i];
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@ -965,7 +967,6 @@ void RigidBodyBullet::reload_space_override_modificator() {
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newGravity += support_gravity;
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newLinearDamp += currentArea->get_spOv_linearDamp();
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newAngularDamp += currentArea->get_spOv_angularDamp();
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++countCombined;
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break;
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case PhysicsServer::AREA_SPACE_OVERRIDE_COMBINE_REPLACE:
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/// This area adds its gravity/damp values to whatever has been calculated
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@ -974,32 +975,31 @@ void RigidBodyBullet::reload_space_override_modificator() {
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newGravity += support_gravity;
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newLinearDamp += currentArea->get_spOv_linearDamp();
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newAngularDamp += currentArea->get_spOv_angularDamp();
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++countCombined;
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goto endAreasCycle;
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stopped = true;
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break;
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case PhysicsServer::AREA_SPACE_OVERRIDE_REPLACE:
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/// This area replaces any gravity/damp, even the default one, and
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/// stops taking into account the rest of the areas.
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newGravity = support_gravity;
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newLinearDamp = currentArea->get_spOv_linearDamp();
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newAngularDamp = currentArea->get_spOv_angularDamp();
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countCombined = 1;
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goto endAreasCycle;
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stopped = true;
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break;
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case PhysicsServer::AREA_SPACE_OVERRIDE_REPLACE_COMBINE:
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/// This area replaces any gravity/damp calculated so far, but keeps
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/// calculating the rest of the areas, down to the default one.
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newGravity = support_gravity;
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newLinearDamp = currentArea->get_spOv_linearDamp();
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newAngularDamp = currentArea->get_spOv_angularDamp();
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countCombined = 1;
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break;
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}
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}
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endAreasCycle:
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if (1 < countCombined) {
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newGravity /= countCombined;
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newLinearDamp /= countCombined;
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newAngularDamp /= countCombined;
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// Add default gravity and damping from space.
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if (!stopped) {
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newGravity += space->get_gravity_direction() * space->get_gravity_magnitude();
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newLinearDamp += space->get_linear_damp();
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newAngularDamp += space->get_angular_damp();
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}
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btVector3 newBtGravity;
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@ -353,6 +353,8 @@ SpaceBullet::SpaceBullet() :
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godotFilterCallback(NULL),
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gravityDirection(0, -1, 0),
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gravityMagnitude(10),
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linear_damp(0.0),
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angular_damp(0.0),
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contactDebugCount(0),
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delta_time(0.) {
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@ -390,8 +392,11 @@ void SpaceBullet::set_param(PhysicsServer::AreaParameter p_param, const Variant
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update_gravity();
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break;
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case PhysicsServer::AREA_PARAM_LINEAR_DAMP:
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linear_damp = p_value;
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break;
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case PhysicsServer::AREA_PARAM_ANGULAR_DAMP:
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break; // No damp
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angular_damp = p_value;
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break;
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case PhysicsServer::AREA_PARAM_PRIORITY:
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// Priority is always 0, the lower
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break;
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@ -412,8 +417,9 @@ Variant SpaceBullet::get_param(PhysicsServer::AreaParameter p_param) {
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case PhysicsServer::AREA_PARAM_GRAVITY_VECTOR:
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return gravityDirection;
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case PhysicsServer::AREA_PARAM_LINEAR_DAMP:
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return linear_damp;
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case PhysicsServer::AREA_PARAM_ANGULAR_DAMP:
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return 0; // No damp
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return angular_damp;
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case PhysicsServer::AREA_PARAM_PRIORITY:
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return 0; // Priority is always 0, the lower
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case PhysicsServer::AREA_PARAM_GRAVITY_IS_POINT:
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@ -108,6 +108,9 @@ class SpaceBullet : public RIDBullet {
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Vector3 gravityDirection;
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real_t gravityMagnitude;
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real_t linear_damp;
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real_t angular_damp;
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Vector<AreaBullet *> areas;
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Vector<Vector3> contactDebug;
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@ -177,6 +180,9 @@ public:
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void update_gravity();
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real_t get_linear_damp() const { return linear_damp; }
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real_t get_angular_damp() const { return angular_damp; }
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bool test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer::MotionResult *r_result, bool p_exclude_raycast_shapes);
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int test_ray_separation(RigidBodyBullet *p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer::SeparationResult *r_results, int p_result_max, float p_margin);
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34
thirdparty/bullet/0001-old-damping-def.patch
vendored
Normal file
34
thirdparty/bullet/0001-old-damping-def.patch
vendored
Normal file
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@ -0,0 +1,34 @@
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diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.cpp b/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.cpp
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index 9e8705b001..f1b50b39c8 100644
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--- a/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.cpp
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+++ b/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.cpp
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@@ -136,8 +136,13 @@ void btRigidBody::setGravity(const btVector3& acceleration)
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void btRigidBody::setDamping(btScalar lin_damping, btScalar ang_damping)
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{
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- m_linearDamping = btClamped(lin_damping, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
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- m_angularDamping = btClamped(ang_damping, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
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+#ifdef BT_USE_OLD_DAMPING_METHOD
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+ m_linearDamping = btMax(lin_damping, btScalar(0.0));
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+ m_angularDamping = btMax(ang_damping, btScalar(0.0));
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+#else
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+ m_linearDamping = btClamped(lin_damping, btScalar(0.0), btScalar(1.0));
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+ m_angularDamping = btClamped(ang_damping, btScalar(0.0), btScalar(1.0));
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+#endif
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}
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///applyDamping damps the velocity, using the given m_linearDamping and m_angularDamping
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@@ -146,10 +151,9 @@ void btRigidBody::applyDamping(btScalar timeStep)
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//On new damping: see discussion/issue report here: http://code.google.com/p/bullet/issues/detail?id=74
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//todo: do some performance comparisons (but other parts of the engine are probably bottleneck anyway
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-//#define USE_OLD_DAMPING_METHOD 1
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-#ifdef USE_OLD_DAMPING_METHOD
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- m_linearVelocity *= GEN_clamped((btScalar(1.) - timeStep * m_linearDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
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- m_angularVelocity *= GEN_clamped((btScalar(1.) - timeStep * m_angularDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
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+#ifdef BT_USE_OLD_DAMPING_METHOD
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+ m_linearVelocity *= btMax((btScalar(1.0) - timeStep * m_linearDamping), btScalar(0.0));
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+ m_angularVelocity *= btMax((btScalar(1.0) - timeStep * m_angularDamping), btScalar(0.0));
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#else
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m_linearVelocity *= btPow(btScalar(1) - m_linearDamping, timeStep);
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m_angularVelocity *= btPow(btScalar(1) - m_angularDamping, timeStep);
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@ -136,8 +136,13 @@ void btRigidBody::setGravity(const btVector3& acceleration)
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void btRigidBody::setDamping(btScalar lin_damping, btScalar ang_damping)
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{
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m_linearDamping = btClamped(lin_damping, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
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m_angularDamping = btClamped(ang_damping, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
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#ifdef BT_USE_OLD_DAMPING_METHOD
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m_linearDamping = btMax(lin_damping, btScalar(0.0));
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m_angularDamping = btMax(ang_damping, btScalar(0.0));
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#else
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m_linearDamping = btClamped(lin_damping, btScalar(0.0), btScalar(1.0));
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m_angularDamping = btClamped(ang_damping, btScalar(0.0), btScalar(1.0));
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#endif
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}
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///applyDamping damps the velocity, using the given m_linearDamping and m_angularDamping
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@ -146,10 +151,9 @@ void btRigidBody::applyDamping(btScalar timeStep)
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//On new damping: see discussion/issue report here: http://code.google.com/p/bullet/issues/detail?id=74
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//todo: do some performance comparisons (but other parts of the engine are probably bottleneck anyway
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//#define USE_OLD_DAMPING_METHOD 1
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#ifdef USE_OLD_DAMPING_METHOD
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m_linearVelocity *= GEN_clamped((btScalar(1.) - timeStep * m_linearDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
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m_angularVelocity *= GEN_clamped((btScalar(1.) - timeStep * m_angularDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
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#ifdef BT_USE_OLD_DAMPING_METHOD
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m_linearVelocity *= btMax((btScalar(1.0) - timeStep * m_linearDamping), btScalar(0.0));
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m_angularVelocity *= btMax((btScalar(1.0) - timeStep * m_angularDamping), btScalar(0.0));
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#else
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m_linearVelocity *= btPow(btScalar(1) - m_linearDamping, timeStep);
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m_angularVelocity *= btPow(btScalar(1) - m_angularDamping, timeStep);
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