687 lines
21 KiB
C++
687 lines
21 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_RIGIDBODY_H
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#define BT_RIGIDBODY_H
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#include "LinearMath/btAlignedObjectArray.h"
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#include "LinearMath/btTransform.h"
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#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
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class btCollisionShape;
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class btMotionState;
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class btTypedConstraint;
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extern btScalar gDeactivationTime;
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extern bool gDisableDeactivation;
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#ifdef BT_USE_DOUBLE_PRECISION
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#define btRigidBodyData btRigidBodyDoubleData
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#define btRigidBodyDataName "btRigidBodyDoubleData"
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#else
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#define btRigidBodyData btRigidBodyFloatData
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#define btRigidBodyDataName "btRigidBodyFloatData"
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#endif //BT_USE_DOUBLE_PRECISION
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enum btRigidBodyFlags
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{
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BT_DISABLE_WORLD_GRAVITY = 1,
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///BT_ENABLE_GYROPSCOPIC_FORCE flags is enabled by default in Bullet 2.83 and onwards.
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///and it BT_ENABLE_GYROPSCOPIC_FORCE becomes equivalent to BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY
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///See Demos/GyroscopicDemo and computeGyroscopicImpulseImplicit
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BT_ENABLE_GYROSCOPIC_FORCE_EXPLICIT = 2,
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BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_WORLD = 4,
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BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY = 8,
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BT_ENABLE_GYROPSCOPIC_FORCE = BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY,
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};
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///The btRigidBody is the main class for rigid body objects. It is derived from btCollisionObject, so it keeps a pointer to a btCollisionShape.
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///It is recommended for performance and memory use to share btCollisionShape objects whenever possible.
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///There are 3 types of rigid bodies:
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///- A) Dynamic rigid bodies, with positive mass. Motion is controlled by rigid body dynamics.
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///- B) Fixed objects with zero mass. They are not moving (basically collision objects)
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///- C) Kinematic objects, which are objects without mass, but the user can move them. There is one-way interaction, and Bullet calculates a velocity based on the timestep and previous and current world transform.
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///Bullet automatically deactivates dynamic rigid bodies, when the velocity is below a threshold for a given time.
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///Deactivated (sleeping) rigid bodies don't take any processing time, except a minor broadphase collision detection impact (to allow active objects to activate/wake up sleeping objects)
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class btRigidBody : public btCollisionObject
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{
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btMatrix3x3 m_invInertiaTensorWorld;
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btVector3 m_linearVelocity;
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btVector3 m_angularVelocity;
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btScalar m_inverseMass;
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btVector3 m_linearFactor;
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btVector3 m_gravity;
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btVector3 m_gravity_acceleration;
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btVector3 m_invInertiaLocal;
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btVector3 m_totalForce;
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btVector3 m_totalTorque;
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btScalar m_linearDamping;
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btScalar m_angularDamping;
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bool m_additionalDamping;
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btScalar m_additionalDampingFactor;
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btScalar m_additionalLinearDampingThresholdSqr;
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btScalar m_additionalAngularDampingThresholdSqr;
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btScalar m_additionalAngularDampingFactor;
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btScalar m_linearSleepingThreshold;
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btScalar m_angularSleepingThreshold;
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//m_optionalMotionState allows to automatic synchronize the world transform for active objects
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btMotionState* m_optionalMotionState;
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//keep track of typed constraints referencing this rigid body, to disable collision between linked bodies
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btAlignedObjectArray<btTypedConstraint*> m_constraintRefs;
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int m_rigidbodyFlags;
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int m_debugBodyId;
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protected:
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ATTRIBUTE_ALIGNED16(btVector3 m_deltaLinearVelocity);
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btVector3 m_deltaAngularVelocity;
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btVector3 m_angularFactor;
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btVector3 m_invMass;
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btVector3 m_pushVelocity;
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btVector3 m_turnVelocity;
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public:
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///The btRigidBodyConstructionInfo structure provides information to create a rigid body. Setting mass to zero creates a fixed (non-dynamic) rigid body.
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///For dynamic objects, you can use the collision shape to approximate the local inertia tensor, otherwise use the zero vector (default argument)
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///You can use the motion state to synchronize the world transform between physics and graphics objects.
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///And if the motion state is provided, the rigid body will initialize its initial world transform from the motion state,
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///m_startWorldTransform is only used when you don't provide a motion state.
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struct btRigidBodyConstructionInfo
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{
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btScalar m_mass;
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///When a motionState is provided, the rigid body will initialize its world transform from the motion state
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///In this case, m_startWorldTransform is ignored.
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btMotionState* m_motionState;
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btTransform m_startWorldTransform;
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btCollisionShape* m_collisionShape;
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btVector3 m_localInertia;
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btScalar m_linearDamping;
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btScalar m_angularDamping;
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///best simulation results when friction is non-zero
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btScalar m_friction;
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///the m_rollingFriction prevents rounded shapes, such as spheres, cylinders and capsules from rolling forever.
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///See Bullet/Demos/RollingFrictionDemo for usage
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btScalar m_rollingFriction;
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btScalar m_spinningFriction; //torsional friction around contact normal
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///best simulation results using zero restitution.
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btScalar m_restitution;
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btScalar m_linearSleepingThreshold;
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btScalar m_angularSleepingThreshold;
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//Additional damping can help avoiding lowpass jitter motion, help stability for ragdolls etc.
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//Such damping is undesirable, so once the overall simulation quality of the rigid body dynamics system has improved, this should become obsolete
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bool m_additionalDamping;
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btScalar m_additionalDampingFactor;
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btScalar m_additionalLinearDampingThresholdSqr;
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btScalar m_additionalAngularDampingThresholdSqr;
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btScalar m_additionalAngularDampingFactor;
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btRigidBodyConstructionInfo(btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia = btVector3(0, 0, 0)) : m_mass(mass),
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m_motionState(motionState),
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m_collisionShape(collisionShape),
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m_localInertia(localInertia),
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m_linearDamping(btScalar(0.)),
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m_angularDamping(btScalar(0.)),
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m_friction(btScalar(0.5)),
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m_rollingFriction(btScalar(0)),
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m_spinningFriction(btScalar(0)),
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m_restitution(btScalar(0.)),
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m_linearSleepingThreshold(btScalar(0.8)),
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m_angularSleepingThreshold(btScalar(1.f)),
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m_additionalDamping(false),
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m_additionalDampingFactor(btScalar(0.005)),
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m_additionalLinearDampingThresholdSqr(btScalar(0.01)),
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m_additionalAngularDampingThresholdSqr(btScalar(0.01)),
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m_additionalAngularDampingFactor(btScalar(0.01))
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{
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m_startWorldTransform.setIdentity();
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}
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};
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///btRigidBody constructor using construction info
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btRigidBody(const btRigidBodyConstructionInfo& constructionInfo);
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///btRigidBody constructor for backwards compatibility.
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///To specify friction (etc) during rigid body construction, please use the other constructor (using btRigidBodyConstructionInfo)
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btRigidBody(btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia = btVector3(0, 0, 0));
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virtual ~btRigidBody()
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{
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//No constraints should point to this rigidbody
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//Remove constraints from the dynamics world before you delete the related rigidbodies.
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btAssert(m_constraintRefs.size() == 0);
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}
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protected:
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///setupRigidBody is only used internally by the constructor
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void setupRigidBody(const btRigidBodyConstructionInfo& constructionInfo);
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public:
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void proceedToTransform(const btTransform& newTrans);
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///to keep collision detection and dynamics separate we don't store a rigidbody pointer
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///but a rigidbody is derived from btCollisionObject, so we can safely perform an upcast
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static const btRigidBody* upcast(const btCollisionObject* colObj)
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{
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if (colObj->getInternalType() & btCollisionObject::CO_RIGID_BODY)
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return (const btRigidBody*)colObj;
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return 0;
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}
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static btRigidBody* upcast(btCollisionObject* colObj)
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{
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if (colObj->getInternalType() & btCollisionObject::CO_RIGID_BODY)
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return (btRigidBody*)colObj;
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return 0;
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}
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/// continuous collision detection needs prediction
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void predictIntegratedTransform(btScalar step, btTransform& predictedTransform);
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void saveKinematicState(btScalar step);
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void applyGravity();
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void clearGravity();
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void setGravity(const btVector3& acceleration);
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const btVector3& getGravity() const
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{
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return m_gravity_acceleration;
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}
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void setDamping(btScalar lin_damping, btScalar ang_damping);
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btScalar getLinearDamping() const
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{
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return m_linearDamping;
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}
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btScalar getAngularDamping() const
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{
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return m_angularDamping;
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}
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btScalar getLinearSleepingThreshold() const
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{
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return m_linearSleepingThreshold;
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}
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btScalar getAngularSleepingThreshold() const
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{
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return m_angularSleepingThreshold;
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}
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void applyDamping(btScalar timeStep);
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SIMD_FORCE_INLINE const btCollisionShape* getCollisionShape() const
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{
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return m_collisionShape;
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}
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SIMD_FORCE_INLINE btCollisionShape* getCollisionShape()
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{
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return m_collisionShape;
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}
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void setMassProps(btScalar mass, const btVector3& inertia);
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const btVector3& getLinearFactor() const
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{
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return m_linearFactor;
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}
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void setLinearFactor(const btVector3& linearFactor)
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{
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m_linearFactor = linearFactor;
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m_invMass = m_linearFactor * m_inverseMass;
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}
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btScalar getInvMass() const { return m_inverseMass; }
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btScalar getMass() const { return m_inverseMass == btScalar(0.) ? btScalar(0.) : btScalar(1.0) / m_inverseMass; }
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const btMatrix3x3& getInvInertiaTensorWorld() const
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{
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return m_invInertiaTensorWorld;
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}
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void integrateVelocities(btScalar step);
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void setCenterOfMassTransform(const btTransform& xform);
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void applyCentralForce(const btVector3& force)
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{
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m_totalForce += force * m_linearFactor;
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}
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const btVector3& getTotalForce() const
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{
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return m_totalForce;
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};
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const btVector3& getTotalTorque() const
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{
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return m_totalTorque;
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};
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const btVector3& getInvInertiaDiagLocal() const
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{
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return m_invInertiaLocal;
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};
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void setInvInertiaDiagLocal(const btVector3& diagInvInertia)
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{
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m_invInertiaLocal = diagInvInertia;
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}
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void setSleepingThresholds(btScalar linear, btScalar angular)
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{
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m_linearSleepingThreshold = linear;
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m_angularSleepingThreshold = angular;
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}
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void applyTorque(const btVector3& torque)
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{
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m_totalTorque += torque * m_angularFactor;
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#if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
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clampVelocity(m_totalTorque);
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#endif
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}
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void applyForce(const btVector3& force, const btVector3& rel_pos)
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{
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applyCentralForce(force);
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applyTorque(rel_pos.cross(force * m_linearFactor));
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}
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void applyCentralImpulse(const btVector3& impulse)
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{
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m_linearVelocity += impulse * m_linearFactor * m_inverseMass;
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#if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
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clampVelocity(m_linearVelocity);
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#endif
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}
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void applyTorqueImpulse(const btVector3& torque)
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{
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m_angularVelocity += m_invInertiaTensorWorld * torque * m_angularFactor;
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#if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
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clampVelocity(m_angularVelocity);
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#endif
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}
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void applyImpulse(const btVector3& impulse, const btVector3& rel_pos)
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{
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if (m_inverseMass != btScalar(0.))
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{
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applyCentralImpulse(impulse);
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if (m_angularFactor)
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{
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applyTorqueImpulse(rel_pos.cross(impulse * m_linearFactor));
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}
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}
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}
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void applyPushImpulse(const btVector3& impulse, const btVector3& rel_pos)
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{
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if (m_inverseMass != btScalar(0.))
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{
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applyCentralPushImpulse(impulse);
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if (m_angularFactor)
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{
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applyTorqueTurnImpulse(rel_pos.cross(impulse * m_linearFactor));
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}
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}
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}
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btVector3 getPushVelocity() const
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{
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return m_pushVelocity;
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}
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btVector3 getTurnVelocity() const
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{
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return m_turnVelocity;
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}
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void setPushVelocity(const btVector3& v)
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{
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m_pushVelocity = v;
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}
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#if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
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void clampVelocity(btVector3& v) const {
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v.setX(
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fmax(-BT_CLAMP_VELOCITY_TO,
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fmin(BT_CLAMP_VELOCITY_TO, v.getX()))
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);
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v.setY(
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fmax(-BT_CLAMP_VELOCITY_TO,
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fmin(BT_CLAMP_VELOCITY_TO, v.getY()))
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);
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v.setZ(
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fmax(-BT_CLAMP_VELOCITY_TO,
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fmin(BT_CLAMP_VELOCITY_TO, v.getZ()))
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);
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}
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#endif
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void setTurnVelocity(const btVector3& v)
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{
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m_turnVelocity = v;
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#if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
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clampVelocity(m_turnVelocity);
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#endif
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}
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void applyCentralPushImpulse(const btVector3& impulse)
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{
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m_pushVelocity += impulse * m_linearFactor * m_inverseMass;
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#if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
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clampVelocity(m_pushVelocity);
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#endif
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}
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void applyTorqueTurnImpulse(const btVector3& torque)
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{
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m_turnVelocity += m_invInertiaTensorWorld * torque * m_angularFactor;
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#if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
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clampVelocity(m_turnVelocity);
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#endif
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}
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void clearForces()
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{
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m_totalForce.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
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m_totalTorque.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
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}
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void updateInertiaTensor();
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const btVector3& getCenterOfMassPosition() const
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{
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return m_worldTransform.getOrigin();
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}
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btQuaternion getOrientation() const;
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const btTransform& getCenterOfMassTransform() const
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{
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return m_worldTransform;
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}
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const btVector3& getLinearVelocity() const
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{
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return m_linearVelocity;
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}
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const btVector3& getAngularVelocity() const
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{
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return m_angularVelocity;
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}
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inline void setLinearVelocity(const btVector3& lin_vel)
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{
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m_updateRevision++;
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m_linearVelocity = lin_vel;
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#if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
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clampVelocity(m_linearVelocity);
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#endif
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}
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inline void setAngularVelocity(const btVector3& ang_vel)
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{
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m_updateRevision++;
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m_angularVelocity = ang_vel;
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#if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
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clampVelocity(m_angularVelocity);
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#endif
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}
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btVector3 getVelocityInLocalPoint(const btVector3& rel_pos) const
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{
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//we also calculate lin/ang velocity for kinematic objects
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return m_linearVelocity + m_angularVelocity.cross(rel_pos);
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//for kinematic objects, we could also use use:
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// return (m_worldTransform(rel_pos) - m_interpolationWorldTransform(rel_pos)) / m_kinematicTimeStep;
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}
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btVector3 getPushVelocityInLocalPoint(const btVector3& rel_pos) const
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{
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//we also calculate lin/ang velocity for kinematic objects
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return m_pushVelocity + m_turnVelocity.cross(rel_pos);
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}
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void translate(const btVector3& v)
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{
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m_worldTransform.getOrigin() += v;
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}
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void getAabb(btVector3& aabbMin, btVector3& aabbMax) const;
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SIMD_FORCE_INLINE btScalar computeImpulseDenominator(const btVector3& pos, const btVector3& normal) const
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{
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btVector3 r0 = pos - getCenterOfMassPosition();
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btVector3 c0 = (r0).cross(normal);
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btVector3 vec = (c0 * getInvInertiaTensorWorld()).cross(r0);
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return m_inverseMass + normal.dot(vec);
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}
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SIMD_FORCE_INLINE btScalar computeAngularImpulseDenominator(const btVector3& axis) const
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{
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btVector3 vec = axis * getInvInertiaTensorWorld();
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return axis.dot(vec);
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}
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SIMD_FORCE_INLINE void updateDeactivation(btScalar timeStep)
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{
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if ((getActivationState() == ISLAND_SLEEPING) || (getActivationState() == DISABLE_DEACTIVATION))
|
|
return;
|
|
|
|
if ((getLinearVelocity().length2() < m_linearSleepingThreshold * m_linearSleepingThreshold) &&
|
|
(getAngularVelocity().length2() < m_angularSleepingThreshold * m_angularSleepingThreshold))
|
|
{
|
|
m_deactivationTime += timeStep;
|
|
}
|
|
else
|
|
{
|
|
m_deactivationTime = btScalar(0.);
|
|
setActivationState(0);
|
|
}
|
|
}
|
|
|
|
SIMD_FORCE_INLINE bool wantsSleeping()
|
|
{
|
|
if (getActivationState() == DISABLE_DEACTIVATION)
|
|
return false;
|
|
|
|
//disable deactivation
|
|
if (gDisableDeactivation || (gDeactivationTime == btScalar(0.)))
|
|
return false;
|
|
|
|
if ((getActivationState() == ISLAND_SLEEPING) || (getActivationState() == WANTS_DEACTIVATION))
|
|
return true;
|
|
|
|
if (m_deactivationTime > gDeactivationTime)
|
|
{
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
const btBroadphaseProxy* getBroadphaseProxy() const
|
|
{
|
|
return m_broadphaseHandle;
|
|
}
|
|
btBroadphaseProxy* getBroadphaseProxy()
|
|
{
|
|
return m_broadphaseHandle;
|
|
}
|
|
void setNewBroadphaseProxy(btBroadphaseProxy* broadphaseProxy)
|
|
{
|
|
m_broadphaseHandle = broadphaseProxy;
|
|
}
|
|
|
|
//btMotionState allows to automatic synchronize the world transform for active objects
|
|
btMotionState* getMotionState()
|
|
{
|
|
return m_optionalMotionState;
|
|
}
|
|
const btMotionState* getMotionState() const
|
|
{
|
|
return m_optionalMotionState;
|
|
}
|
|
void setMotionState(btMotionState* motionState)
|
|
{
|
|
m_optionalMotionState = motionState;
|
|
if (m_optionalMotionState)
|
|
motionState->getWorldTransform(m_worldTransform);
|
|
}
|
|
|
|
//for experimental overriding of friction/contact solver func
|
|
int m_contactSolverType;
|
|
int m_frictionSolverType;
|
|
|
|
void setAngularFactor(const btVector3& angFac)
|
|
{
|
|
m_updateRevision++;
|
|
m_angularFactor = angFac;
|
|
}
|
|
|
|
void setAngularFactor(btScalar angFac)
|
|
{
|
|
m_updateRevision++;
|
|
m_angularFactor.setValue(angFac, angFac, angFac);
|
|
}
|
|
const btVector3& getAngularFactor() const
|
|
{
|
|
return m_angularFactor;
|
|
}
|
|
|
|
//is this rigidbody added to a btCollisionWorld/btDynamicsWorld/btBroadphase?
|
|
bool isInWorld() const
|
|
{
|
|
return (getBroadphaseProxy() != 0);
|
|
}
|
|
|
|
void addConstraintRef(btTypedConstraint* c);
|
|
void removeConstraintRef(btTypedConstraint* c);
|
|
|
|
btTypedConstraint* getConstraintRef(int index)
|
|
{
|
|
return m_constraintRefs[index];
|
|
}
|
|
|
|
int getNumConstraintRefs() const
|
|
{
|
|
return m_constraintRefs.size();
|
|
}
|
|
|
|
void setFlags(int flags)
|
|
{
|
|
m_rigidbodyFlags = flags;
|
|
}
|
|
|
|
int getFlags() const
|
|
{
|
|
return m_rigidbodyFlags;
|
|
}
|
|
|
|
///perform implicit force computation in world space
|
|
btVector3 computeGyroscopicImpulseImplicit_World(btScalar dt) const;
|
|
|
|
///perform implicit force computation in body space (inertial frame)
|
|
btVector3 computeGyroscopicImpulseImplicit_Body(btScalar step) const;
|
|
|
|
///explicit version is best avoided, it gains energy
|
|
btVector3 computeGyroscopicForceExplicit(btScalar maxGyroscopicForce) const;
|
|
btVector3 getLocalInertia() const;
|
|
|
|
///////////////////////////////////////////////
|
|
|
|
virtual int calculateSerializeBufferSize() const;
|
|
|
|
///fills the dataBuffer and returns the struct name (and 0 on failure)
|
|
virtual const char* serialize(void* dataBuffer, class btSerializer* serializer) const;
|
|
|
|
virtual void serializeSingleObject(class btSerializer* serializer) const;
|
|
};
|
|
|
|
//@todo add m_optionalMotionState and m_constraintRefs to btRigidBodyData
|
|
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
|
|
struct btRigidBodyFloatData
|
|
{
|
|
btCollisionObjectFloatData m_collisionObjectData;
|
|
btMatrix3x3FloatData m_invInertiaTensorWorld;
|
|
btVector3FloatData m_linearVelocity;
|
|
btVector3FloatData m_angularVelocity;
|
|
btVector3FloatData m_angularFactor;
|
|
btVector3FloatData m_linearFactor;
|
|
btVector3FloatData m_gravity;
|
|
btVector3FloatData m_gravity_acceleration;
|
|
btVector3FloatData m_invInertiaLocal;
|
|
btVector3FloatData m_totalForce;
|
|
btVector3FloatData m_totalTorque;
|
|
float m_inverseMass;
|
|
float m_linearDamping;
|
|
float m_angularDamping;
|
|
float m_additionalDampingFactor;
|
|
float m_additionalLinearDampingThresholdSqr;
|
|
float m_additionalAngularDampingThresholdSqr;
|
|
float m_additionalAngularDampingFactor;
|
|
float m_linearSleepingThreshold;
|
|
float m_angularSleepingThreshold;
|
|
int m_additionalDamping;
|
|
};
|
|
|
|
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
|
|
struct btRigidBodyDoubleData
|
|
{
|
|
btCollisionObjectDoubleData m_collisionObjectData;
|
|
btMatrix3x3DoubleData m_invInertiaTensorWorld;
|
|
btVector3DoubleData m_linearVelocity;
|
|
btVector3DoubleData m_angularVelocity;
|
|
btVector3DoubleData m_angularFactor;
|
|
btVector3DoubleData m_linearFactor;
|
|
btVector3DoubleData m_gravity;
|
|
btVector3DoubleData m_gravity_acceleration;
|
|
btVector3DoubleData m_invInertiaLocal;
|
|
btVector3DoubleData m_totalForce;
|
|
btVector3DoubleData m_totalTorque;
|
|
double m_inverseMass;
|
|
double m_linearDamping;
|
|
double m_angularDamping;
|
|
double m_additionalDampingFactor;
|
|
double m_additionalLinearDampingThresholdSqr;
|
|
double m_additionalAngularDampingThresholdSqr;
|
|
double m_additionalAngularDampingFactor;
|
|
double m_linearSleepingThreshold;
|
|
double m_angularSleepingThreshold;
|
|
int m_additionalDamping;
|
|
char m_padding[4];
|
|
};
|
|
|
|
#endif //BT_RIGIDBODY_H
|