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Fix issue with sleeping bodies and joints and small changes

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This commit is contained in:
Daniel Chappuis 2021-07-03 22:28:19 +02:00
parent 52aefabaf7
commit 4dae9449c9
3 changed files with 40 additions and 34 deletions
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2
include/reactphysics3d/engine/PhysicsWorld.h
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@ -379,7 +379,7 @@ class PhysicsWorld {
RigidBody* createRigidBody(const Transform& transform);
/// Disable the joints for pair of sleeping bodies
void disableJointsOfSleepingBodies();
void enableDisableJoints();
/// Destroy a rigid body and all the joints which it belongs
void destroyRigidBody(RigidBody* rigidBody);

14
src/constraint/BallAndSocketJoint.cpp
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@ -64,6 +64,8 @@ BallAndSocketJoint::BallAndSocketJoint(Entity entity, PhysicsWorld& world, const
// Enable/disable the cone limit of the joint
void BallAndSocketJoint::enableConeLimit(bool isLimitEnabled) {
mWorld.mBallAndSocketJointsComponents.setIsConeLimitEnabled(mEntity, isLimitEnabled);
awakeBodies();
}
// Return true if the cone limit or the joint is enabled
@ -76,17 +78,27 @@ bool BallAndSocketJoint::isConeLimitEnabled() const {
* @param coneHalfAngle The angle of the cone limit (in radian) from [0; PI]
*/
void BallAndSocketJoint::setConeLimitHalfAngle(decimal coneHalfAngle) {
mWorld.mBallAndSocketJointsComponents.setConeLimitHalfAngle(mEntity, coneHalfAngle);
if (mWorld.mBallAndSocketJointsComponents.getConeLimitHalfAngle(mEntity) != coneHalfAngle) {
mWorld.mBallAndSocketJointsComponents.setConeLimitHalfAngle(mEntity, coneHalfAngle);
awakeBodies();
}
}
// Set the normalized cone limit axis of body 1 in local-space of body 1
void BallAndSocketJoint::setConeLimitLocalAxisBody1(const Vector3& localAxisBody1) {
mWorld.mBallAndSocketJointsComponents.setConeLimitLocalAxisBody1(mEntity, localAxisBody1);
awakeBodies();
}
// Set the normalized cone limit axis of body 2 in local-space of body 2
void BallAndSocketJoint::setConeLimitLocalAxisBody2(const Vector3& localAxisBody2) {
mWorld.mBallAndSocketJointsComponents.setConeLimitLocalAxisBody2(mEntity, localAxisBody2);
awakeBodies();
}
// Return the cone angle limit (in radians) from [0; PI]

58
src/engine/PhysicsWorld.cpp
View File

@ -244,28 +244,6 @@ void PhysicsWorld::setBodyDisabled(Entity bodyEntity, bool isDisabled) {
mCollidersComponents.setIsEntityDisabled(collidersEntities[i], isDisabled);
}
// Disable the joints of the body if necessary
// For each joint of the body
const Array<Entity>& joints = mRigidBodyComponents.getJoints(bodyEntity);
const uint32 nbJoints = joints.size();
for(uint32 i=0; i < nbJoints; i++) {
const Entity body1Entity = mJointsComponents.getBody1Entity(joints[i]);
const Entity body2Entity = mJointsComponents.getBody2Entity(joints[i]);
// If both bodies of the joint are disabled
if (mRigidBodyComponents.getIsEntityDisabled(body1Entity) && mRigidBodyComponents.getIsEntityDisabled(body2Entity)) {
// We disable the joint
setJointDisabled(joints[i], true);
}
else {
// Enable the joint
setJointDisabled(joints[i], false);
}
}
}
// Notify the world whether a joint is disabled or not
@ -349,8 +327,8 @@ void PhysicsWorld::update(decimal timeStep) {
// Recompute the inverse inertia tensors of rigid bodies
updateBodiesInverseWorldInertiaTensors();
// Disable the joints for pair of sleeping bodies
disableJointsOfSleepingBodies();
// Enable or disable the joints
enableDisableJoints();
// Integrate the velocities
mDynamicsSystem.integrateRigidBodiesVelocities(timeStep);
@ -441,20 +419,36 @@ void PhysicsWorld::solvePositionCorrection() {
}
}
// Disable the joints for pair of sleeping bodies
void PhysicsWorld::disableJointsOfSleepingBodies() {
// Enable or disable the joints
void PhysicsWorld::enableDisableJoints() {
const uint32 nbJointComponents = mJointsComponents.getNbComponents();
Array<Entity> jointsEntites(mMemoryManager.getHeapAllocator(), nbJointComponents);
// Get all the joints entities
for (uint32 i = 0; i < nbJointComponents; i++) {
jointsEntites.add(mJointsComponents.mJointEntities[i]);
}
// For each joint
for (uint32 i=0; i < mJointsComponents.getNbEnabledComponents(); i++) {
for (uint32 i = 0; i < nbJointComponents; i++) {
Entity body1 = mJointsComponents.mBody1Entities[i];
Entity body2 = mJointsComponents.mBody2Entities[i];
uint32 jointEntityIndex = mJointsComponents.getEntityIndex(jointsEntites[i]);
Entity body1 = mJointsComponents.mBody1Entities[jointEntityIndex];
Entity body2 = mJointsComponents.mBody2Entities[jointEntityIndex];
// If both bodies of the joint are disabled
if (mCollisionBodyComponents.getIsEntityDisabled(body1) && mCollisionBodyComponents.getIsEntityDisabled(body2)) {
if (mCollisionBodyComponents.getIsEntityDisabled(body1) || mCollisionBodyComponents.getIsEntityDisabled(body2)) {
// Disable the joint
setJointDisabled(mJointsComponents.mJointEntities[i], true);
setJointDisabled(jointsEntites[i], true);
}
else {
// Enable the joint
setJointDisabled(jointsEntites[i], false);
}
}
}
@ -822,7 +816,7 @@ void PhysicsWorld::createIslands() {
// Compute the body index in the array (Note that it could have changed because of the previous call to rigidBodyToVisit->setIsSleeping(false))
const uint32 bodyToVisitIndex = mRigidBodyComponents.getEntityIndex(bodyToVisitEntity);
// If the currenbodyEntityIndicesToVisitt body is static, we do not want to perform the DFS search across that body
// If the current body is static, we do not want to perform the DFS search across that body
if (mRigidBodyComponents.mBodyTypes[bodyToVisitIndex] == BodyType::STATIC) {
staticBodiesAddedToIsland.add(bodyToVisitEntity);